Extended Kalman filtering based parameter estimation and drift compensation for a MEMS rate integrating gyroscope
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- 作者：Zhongxu Hu ; zhongxu.hu@ncl.ac.uk" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Barry GallacherAuthor Vitae
- 关键词：MEMS rate integrating gyroscope ; Parameter estimation ; Extended kalman filter ; Drift compensation
- 刊名：Sensors and Actuators A: Physical
- 出版年：2016
- 出版时间：15 October 2016
- 年：2016
- 卷：250
- 期：Complete
- 页码：96-105
- 全文大小：2437 K
文摘
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This report describes an Extended Kalman filter based on the time averaged model of a MEMS vibratory gyroscope.
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The EKF provides consistent and accurate estimations of damping imperfections of a rate integrating gyroscope.
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Feedback control based on the estimation results from the EKF is able to reduce the precession angle dependent angular drift to 1 degree per second.
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Spectrum analysis of angle output from the RIG reveals the existence of a 4th harmonics. It is caused by dynamics not included in conventional gyroscope models.