Dynamic zero output adjustment and system error compensation based on low cost vibration gyro

The sensor signal filtered through fast wavelet and compensated by Grey model was proposed according to the characteristics of signal and noise output. Grey accumulate operation (AGO) was adopted to achieve the regularly single-mapping function and the model of single-mapping of gyro's zero output in three dimension coordinates. The model based on the Grey neural network approximated the function of created by the AGO algorithm and improved the measurement accuracy of IMU. At the same time, the active threshold based on the fusion algorithm was used to optimize the measurement datum of gyro and accelerometer. Experiments proved these method and algorithm increased the system's accuracy successfully.