Combining Numerous Uncorrelated MEMS Gyroscopes for Accuracy Improvement Based on an Optimal Kalman Filter
Abstract
In this paper, an approach to improve the accuracy of microelectromechanical systems (MEMS) gyroscopes by combining numerous uncorrelated gyroscopes is presented. A Kalman filter (KF) is used to fuse the output signals of several uncorrelated sensors. The relationship between the KF bandwidth and the angular rate input is quantitatively analyzed. A linear model is developed to choose suitable system parameters for a dynamic application of the concept. Simulation and experimental tests of a six-gyroscope array proved that the presented approach was effective to improve the MEMS gyroscope accuracy. The experimental results indicate that six identical gyroscopes with a noise density of 0.11°/s/√Hz and a bias instability of 62°/h can be combined to form a virtual gyroscope with a noise density of 0.03°/s/√Hz and a bias instability of 16.8°/h . The accuracy improvement is better than that of a simple averaging process of the individual sensors.
Additional Information
© 2012 IEEE. Manuscript received December 9, 2011; revised March 2, 2012; accepted April 2, 2012. Date of publication June 8, 2012; date of current version October 10, 2012. This work was supported in part by the Chinese National Science Foundation and in part by the Chinese New Century Excellent Talents in University. The Associate Editor coordinating the review process for this paper was Dr. George Xiao.Additional details
- Eprint ID
- 35673
- Resolver ID
- CaltechAUTHORS:20121127-105730178
- Chinese National Science Foundation
- Chinese New Century Excellent Talents in University
- Created
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2012-11-27Created from EPrint's datestamp field
- Updated
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2021-11-09Created from EPrint's last_modified field
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- Other Numbering System Identifier
- 13034331