Square root unscented Kalman filter for MEMS gyroscope random drift compensation

The micro electro mechanical system (MEMS) gyroscopes are widely used in many applications for its small size and low cost. They usually have deterministic system error and random error which can only be described by statistical models. First of all, its random drift error model is created by using the time-serial analysis, and then the process of decreasing this random drift error by making use of the square root unscented Kalman filter (SRUKF) based on the above error model is expounded. The compensating results for the practical testing data of a MEMS gyroscope show that the random drift error can be controlled effectively by the filtering method presented, and its application precision in practical system can be further proved.