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An Integrated MEMS Gyroscope Array with Higher Accuracy Output

In this paper, an integrated MEMS gyroscope array method composed of two levels of optimal filtering was designed to improve the accuracy of gyroscopes. In the first-level filtering, several identical gyroscopes were combined through Kalman filtering into a single effective device, whose performance...

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Detalles Bibliográficos
Autores principales: Chang, Honglong, Xue, Liang, Qin, Wei, Yuan, Guangmin, Yuan, Weizheng
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2008
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3673451/
https://www.ncbi.nlm.nih.gov/pubmed/27879855
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author Chang, Honglong
Xue, Liang
Qin, Wei
Yuan, Guangmin
Yuan, Weizheng
author_facet Chang, Honglong
Xue, Liang
Qin, Wei
Yuan, Guangmin
Yuan, Weizheng
author_sort Chang, Honglong
collection PubMed
description In this paper, an integrated MEMS gyroscope array method composed of two levels of optimal filtering was designed to improve the accuracy of gyroscopes. In the first-level filtering, several identical gyroscopes were combined through Kalman filtering into a single effective device, whose performance could surpass that of any individual sensor. The key of the performance improving lies in the optimal estimation of the random noise sources such as rate random walk and angular random walk for compensating the measurement values. Especially, the cross correlation between the noises from different gyroscopes of the same type was used to establish the system noise covariance matrix and the measurement noise covariance matrix for Kalman filtering to improve the performance further. Secondly, an integrated Kalman filter with six states was designed to further improve the accuracy with the aid of external sensors such as magnetometers and accelerometers in attitude determination. Experiments showed that three gyroscopes with a bias drift of 35 degree per hour could be combined into a virtual gyroscope with a drift of 1.07 degree per hour through the first-level filter, and the bias drift was reduced to 0.53 degree per hour after the second-level filtering. It proved that the proposed integrated MEMS gyroscope array is capable of improving the accuracy of the MEMS gyroscopes, which provides the possibility of using these low cost MEMS sensors in high-accuracy application areas.
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spelling pubmed-36734512013-07-02 An Integrated MEMS Gyroscope Array with Higher Accuracy Output Chang, Honglong Xue, Liang Qin, Wei Yuan, Guangmin Yuan, Weizheng Sensors (Basel) Full Research Paper In this paper, an integrated MEMS gyroscope array method composed of two levels of optimal filtering was designed to improve the accuracy of gyroscopes. In the first-level filtering, several identical gyroscopes were combined through Kalman filtering into a single effective device, whose performance could surpass that of any individual sensor. The key of the performance improving lies in the optimal estimation of the random noise sources such as rate random walk and angular random walk for compensating the measurement values. Especially, the cross correlation between the noises from different gyroscopes of the same type was used to establish the system noise covariance matrix and the measurement noise covariance matrix for Kalman filtering to improve the performance further. Secondly, an integrated Kalman filter with six states was designed to further improve the accuracy with the aid of external sensors such as magnetometers and accelerometers in attitude determination. Experiments showed that three gyroscopes with a bias drift of 35 degree per hour could be combined into a virtual gyroscope with a drift of 1.07 degree per hour through the first-level filter, and the bias drift was reduced to 0.53 degree per hour after the second-level filtering. It proved that the proposed integrated MEMS gyroscope array is capable of improving the accuracy of the MEMS gyroscopes, which provides the possibility of using these low cost MEMS sensors in high-accuracy application areas. Molecular Diversity Preservation International (MDPI) 2008-04-28 /pmc/articles/PMC3673451/ /pubmed/27879855 Text en © 2008 by MDPI (http://www.mdpi.org). Reproduction is permitted for noncommercial purposes.
spellingShingle Full Research Paper
Chang, Honglong
Xue, Liang
Qin, Wei
Yuan, Guangmin
Yuan, Weizheng
An Integrated MEMS Gyroscope Array with Higher Accuracy Output
title An Integrated MEMS Gyroscope Array with Higher Accuracy Output
title_full An Integrated MEMS Gyroscope Array with Higher Accuracy Output
title_fullStr An Integrated MEMS Gyroscope Array with Higher Accuracy Output
title_full_unstemmed An Integrated MEMS Gyroscope Array with Higher Accuracy Output
title_short An Integrated MEMS Gyroscope Array with Higher Accuracy Output
title_sort integrated mems gyroscope array with higher accuracy output
topic Full Research Paper
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3673451/
https://www.ncbi.nlm.nih.gov/pubmed/27879855
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