摘要
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°/h and a bias instability of 62°/s can be combined to form a virtual gyroscope with a noise density of 0.03°/h and a bias instability of 16.8°/s. The accuracy improvement is better than that of a simple averaging process of the individual sensors.
源语言 | 英语 |
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文章编号 | 6214600 |
页(从-至) | 3084-3093 |
页数 | 10 |
期刊 | IEEE Transactions on Instrumentation and Measurement |
卷 | 61 |
期 | 11 |
DOI | |
出版状态 | 已出版 - 2012 |