An Adaptive Filtering Approach Based on the Dynamic Variance Model for Reducing MEMS Gyroscope Random Error
Abstract
:1. Introduction
2. Angular Rate Related Dynamic Variance Model
2.1. Equipment Installation
2.2. Data Acquisition
2.3. Variance Calculation
2.4. Dynamic Variance Model
3. Adaptive Filtering Method Based on Online Measuring Noise Coefficient Adjustment
3.1. Non-Stationary Random Signal Modeling Methods
3.2. Kalman Filter Design with ARIMA Model-Based State Equation
3.3. Measuring Noise Coefficient Online Adjustment-Based Adaptive Filtering Approach
4. Experiments and Results
4.1. Experimental Equipment
4.2. Experimental Procedure
4.3. Verification Experiments
4.3.1. Kalman Filtering State Equation Utilizing the Time Sequence Model
4.3.2. Kalman Filter Design
4.3.3. Different Angular Rate Experiment Verification
- (1)
- Constant Rotation Rate Filtering Experiments
- (2)
- Continuous-Changing Angular Rate Filtering Experiments
- (3)
- Long Term Constant Rotation Rate Filtering Experiments
5. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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(°/s) | Data Variance | (°/s) | Data Variance |
---|---|---|---|
−5 | 0.0264 | 5 | 0.0269 |
−10 | 0.0275 | 10 | 0.0262 |
−15 | 0.0261 | 15 | 0.0272 |
−20 | 0.0264 | 20 | 0.0256 |
−40 | 0.0278 | 40 | 0.0267 |
−60 | 0.0283 | 60 | 0.0296 |
−100 | 0.0314 | 100 | 0.0310 |
−120 | 0.0359 | 120 | 0.0332 |
−150 | 0.0456 | 150 | 0.0458 |
Angular Velocity (°/s) | 40 | |
Variance of original data | 0.0267 | |
KF | Variance after filtering | 0.0084 |
Percentage | 31.5% | |
A-KF | Variance after filtering | 0.0040 |
Percentage | 15% |
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Zhang, Y.; Peng, C.; Mou, D.; Li, M.; Quan, W. An Adaptive Filtering Approach Based on the Dynamic Variance Model for Reducing MEMS Gyroscope Random Error. Sensors 2018, 18, 3943. https://doi.org/10.3390/s18113943
Zhang Y, Peng C, Mou D, Li M, Quan W. An Adaptive Filtering Approach Based on the Dynamic Variance Model for Reducing MEMS Gyroscope Random Error. Sensors. 2018; 18(11):3943. https://doi.org/10.3390/s18113943
Chicago/Turabian StyleZhang, Yanshun, Chuang Peng, Dong Mou, Ming Li, and Wei Quan. 2018. "An Adaptive Filtering Approach Based on the Dynamic Variance Model for Reducing MEMS Gyroscope Random Error" Sensors 18, no. 11: 3943. https://doi.org/10.3390/s18113943