Signal processing of MEMS gyroscope arrays to improve accuracy using a 1st order markov for rate signal modeling

Chengyu Jiang, Liang Xue, Honglong Chang, Guangmin Yuan, Weizheng Yuan

Research output: Contribution to journalArticlepeer-review

46 Scopus citations

Abstract

This paper presents a signal processing technique to improve angular rate accuracy of the gyroscope by combining the outputs of an array of MEMS gyroscope. A mathematical model for the accuracy improvement was described and a Kalman filter (KF) was designed to obtain optimal rate estimates. Especially, the rate signal was modeled by a first-order Markov process instead of a random walk to improve overall performance. The accuracy of the combined rate signal and affecting factors were analyzed using a steady-state covariance. A system comprising a six-gyroscope array was developed to test the presented KF. Experimental tests proved that the presented model was effective at improving the gyroscope accuracy. The experimental results indicated that six identical gyroscopes with an ARW noise of 6.2 °/√h and a bias drift of 54.14 °/h could be combined into a rate signal with an ARW noise of 1.8 °/√h and a bias drift of 16.3 °/h, while the estimated rate signal by the random walk model has an ARW noise of 2.4 °/√h and a bias drift of 20.6 °/h. It revealed that both models could improve the angular rate accuracy and have a similar performance in static condition. In dynamic condition, the test results showed that the first-order Markov process model could reduce the dynamic errors 20% more than the random walk model.

Original languageEnglish
Pages (from-to)1720-1737
Number of pages18
JournalSensors
Volume12
Issue number2
DOIs
StatePublished - Feb 2012

Keywords

  • First-order markov process
  • Kalman filter
  • MEMS gyroscope array
  • Rate accuracy improvement

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