Research on random error compensating methods for MEMS gyroscope

Aiming at the random drift error of MEMS gyroscope, its efficient compensating methods were discussed. According to the hypotheses of the mean stochastic change and mean stochastic speedup change of the MEMS gyro's angle rate, two corresponding methods for compensating the random error of MEMS gyroscope based on the Kalman filter were proposed. By establishing the model of the random error, their respective Kalman filter equation was deduced in detail. Taking a MEMS gyro in a micro inertial measurement system as the example, two filtering methods are validated by experiments. The theory analysis and the experiment results show that two methods are correct and effective, and the latter is better than the former in the aspects of the filtering and tracking effect.