A novel Kalman filter for combining outputs of MEMS gyroscope array

作者：Xue, Liang; Jiang, Cheng-Yu^*; Chang, Hong-Long; Yang, Yong; Qin, Wei; Yuan, Wei-Zheng

来源：Measurement, 2012, 45(4): 745-754.

DOI：10.1016/j.measurement.2011.12.016

• MEMS gyroscope
• Kalman filter
• Accuracy improvement
• Array

In this paper, a Kalman filter for combining outputs of a gyroscope array is presented to improve the accuracy of microelectromechanical system (MEMS) gyroscope. A theoretical mathematical model for the accuracy improvement is described. Especially, a discrete-time filter is designed by solving the covariance differential equation with an analytic solution. Performances of presented filter are analyzed by the simulations. Finally, a developed system consisting of six-gyroscope array is implemented to test the performance of the Kalman filter. The experimental results showed a noise density of 0.03 degrees/s/root Hz for the combined rate signal compared to the 0.11 degrees/s/root Hz for the individual gyroscope in the array. The analysis of results measured from Allan variance demonstrated a bias instability of 17.2 degrees/h and angular random walk of 1.6 degrees/root h, whereas the corresponding values for the individual gyroscope is 62 degrees/h and 6.2 degrees/root h, respectively. It proved that the presented approach is effective to improve the MEMS gyroscope accuracy.

• 出版日期2012-5
• 单位西北工业大学