Compensating for random noises in a low-precision MEMS gyroscope for improving accuracy of attitude reference system

Aim. To our knowledge, there does not exist, in the open literature, any compensation method suitable for improving a low-precision MEMS gyroscope. We now apply the Allan variance method, we believe, successfully to such compensation. In section 1 of the full paper, we extract the main random noises of the gyroscope such as rate random walk (RRW) and angle random walk (ARW) as shown in Fig. 2. Section 3 has three subsections. In subsection 3.2, we give the calculation results of random noises of the gyroscope in Table 2. In subsection 3.3, we perform the real-time estimation of and compensation for the random noises and simulate the yaw angle, roll angle and pitch angle of an attitude reference system. The simulation and experimental results, given in Figs. 7 through 9 and Table 3, show preliminarily that our compensation method reduces the yaw angle error to one third of that uncompensated for, the roll angle error to one fourth and the pitch angle error to one twelfth.