Study On Virtual Gyroscope With Improved Kalman Filtering

Micromachined gyroscope based on MEMS technology has a wide application prospect, but at present precision of the micro gyroscope cannot meet the requirements of middle and high precision. How to improve the precision of micro gyro has become a hot and difficult problem in this field, with theoretical significance and important social value. This article pay more attention to the methods for improving the measurement precision of MEMS gyro virtual gyro technology. Using the characteristics of micro gyroscope, this article adopts a plurality of micro gyroscope gyro array, using micro gyro error distribution characteristics to improve the measuring precision of virtual gyro by Kalman filter.This article first introduces the general development of micro gyroscope, the measurement principle and errors of the gyroscope. Then a virtual gyro error model is established based on the gyroscope error parameter test method of Allan variance. Secondly, the application of multi gyro combined into principle of Kalman filter virtual gyro and the filter equations. In order to improve the accuracy of virtual gyro, this article proposes an improved Kalman filtering algorithm. And the simulation results show that the improved method of Kalman filtering is effective in improving the accuracy and robustness of the filter. Thirdly, this paper introduces the design and development of simulation system of virtual gyro. The user can scan through the GUI interface, the error parameter input time parameters, the motion parameters of moving objects of the gyroscope and accelerometer, and provide the experimental simulation platform for the design of virtual gyro system. According to the simulation results, this article analyzed the relationship between the number of virtual gyro gyroscope, and the precision of measurement. The simulation results show that, the more the number of combinations of gyro, gyroscope output estimation residual smaller; the virtual gyro output of six gyro estimation residual standard deviation is reduced to 85% compared with single gyro.This article studies the technology of virtual gyro method to improve the measurement accuracy of the micro gyroscope based on micro gyroscope gyro array by Kalman filtering algorithm. Through the output data fusion and the virtual gyros system, the simulation results show that, the virtual gyro precision was improved obviously. The results obtained from this article are significant for the further development of virtual gyro.