The possibility to improve the accuracy of angular velocity estimate by optimally combining multiple individual micro electromechanical systems (MEMS) gyroscopes is analyzed in this paper. Kalman filter (KF) is used to fuse the numerous measurements into a single improved rate estimate. Based on the virtual gyro idea, a revised approach can give an unbiased estimator regardless of the true angular velocity signal. Numerical simulations are performed to demonstrate the desirable performance, reducing the bias drift and noise.
- Dynamic Systems and Control Division
Analysis of the Improvement in Accuracy Using Multiple Gyros
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Li, S, Wang, Y, & Tomizuka, M. "Analysis of the Improvement in Accuracy Using Multiple Gyros." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T47A005. ASME. https://doi.org/10.1115/DSCC2015-9928
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