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Combining Numerous Uncorrelated MEMS Gyroscopes for Accuracy Improvement Based on an Optimal Kalman Filter

Chang, Honglong and Xue, Liang and Jiang, Chengyu and Kraft, Michael and Yuan, Weizheng (2012) Combining Numerous Uncorrelated MEMS Gyroscopes for Accuracy Improvement Based on an Optimal Kalman Filter. IEEE Transactions on Instrumentation and Measurement, 61 (11). pp. 3084-3093. ISSN 0018-9456. https://resolver.caltech.edu/CaltechAUTHORS:20121127-105730178

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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.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/TIM.2012.2200818DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6214600PublisherUNSPECIFIED
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.
Funders:
Funding AgencyGrant Number
Chinese National Science FoundationUNSPECIFIED
Chinese New Century Excellent Talents in UniversityUNSPECIFIED
Subject Keywords:Array signal processing, filtering, gyroscope, microelectromechanical devices, random noise.
Other Numbering System:
Other Numbering System NameOther Numbering System ID
INSPEC Accession Number: 13034331
Issue or Number:11
Record Number:CaltechAUTHORS:20121127-105730178
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20121127-105730178
Official Citation:Honglong Chang; Liang Xue; Chengyu Jiang; Kraft, M.; Weizheng Yuan; , "Combining Numerous Uncorrelated MEMS Gyroscopes for Accuracy Improvement Based on an Optimal Kalman Filter," Instrumentation and Measurement, IEEE Transactions on , vol.61, no.11, pp.3084-3093, Nov. 2012 doi: 10.1109/TIM.2012.2200818 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6214600&isnumber=6324451
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:35673
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:27 Nov 2012 19:17
Last Modified:03 Oct 2019 04:30

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