Compensation of MEMS gyroscope error based on Calman filter

CHEN Chen， ZHAO Wen-hong， XV Hui-xin， ZHOU Fen-fen， AN Ping
（Laboratory of Ultra-sophisticated Machining， Zhejiang University of Technology， Hangzhou 310014， China）

Abstract： Aiming at solving the problem that it is easy to produce the error of MEMS gyroscope in the test，the Calman algorithm was investigated. After the analysis of the cause of the error of the gyroscope，the error model of gyroscope was established. The Calman filter algorithm was presented and the effect of Calman filter was evaluated on the Allan variance method，the gyroscopes were tested on the rotating speed device. The experimental results indicate that the combination of model and Calman filter can reduce the error of gyroscope in the test.
Key words： MEMS gyroscope； Calman filter； Allan variance method