TY - GEN
T1 - A filtering method of gyroscope random drift for miniature unmanned helicopter
AU - Pan, Yue
AU - Song, Ping
AU - Li, Kejie
AU - Lin, Ran
AU - Huang, Wei
PY - 2011
Y1 - 2011
N2 - Low-cost MEMS gyroscopes used in the Miniature Unmanned Helicopter (MUH) have great random drift. In order to improve the performance of MEMS gyroscopes, a one-order AR model was established for the random drift. Then Sage-Husa adaptive Kalman filter was applied to process the random drift signal. Experiments were carried out to verify the validity of the method. Tests results demonstrate that the method based on AR model and Sage-Husa adaptive Kalman filter is convenient and effective and it significantly reduces random drift. Compared to conventional Kalman filter, Sage-Husa adaptive Kalman filter can estimate statistic characteristics of system noise and measurement noise and modify filter parameters on-time. It improves stability and adaptability and thus can give a more accurate filtering result.
AB - Low-cost MEMS gyroscopes used in the Miniature Unmanned Helicopter (MUH) have great random drift. In order to improve the performance of MEMS gyroscopes, a one-order AR model was established for the random drift. Then Sage-Husa adaptive Kalman filter was applied to process the random drift signal. Experiments were carried out to verify the validity of the method. Tests results demonstrate that the method based on AR model and Sage-Husa adaptive Kalman filter is convenient and effective and it significantly reduces random drift. Compared to conventional Kalman filter, Sage-Husa adaptive Kalman filter can estimate statistic characteristics of system noise and measurement noise and modify filter parameters on-time. It improves stability and adaptability and thus can give a more accurate filtering result.
KW - AR model
KW - MUH
KW - Sage-Husa adaptive Kalman filter
KW - gyroscope random drift
UR - http://www.scopus.com/inward/record.url?scp=84860581694&partnerID=8YFLogxK
U2 - 10.1109/ICCSNT.2011.6182068
DO - 10.1109/ICCSNT.2011.6182068
M3 - Conference contribution
AN - SCOPUS:84860581694
SN - 9781457715846
T3 - Proceedings of 2011 International Conference on Computer Science and Network Technology, ICCSNT 2011
SP - 730
EP - 734
BT - Proceedings of 2011 International Conference on Computer Science and Network Technology, ICCSNT 2011
T2 - 2011 International Conference on Computer Science and Network Technology, ICCSNT 2011
Y2 - 24 December 2011 through 26 December 2011
ER -