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| Analysis and processing on random drift of gyroscope based on HDR |
| School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang， Jiangsu 212003, China |
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Abstract
According to the characteristics of noise error by MEMS gyroscope, heuristic drift reduction (HDR) was adopted to realize realtime estimation and drift compensation. Double lowpass filters were added to remove the effect of swing problem during carrier operation. The signal time delay by double lowpass filter was eliminated by a signal link to improve the attitude estimating accuracy of MEMS gyroscope. The threshold function was designed to solve the bending and steering problems in the process of operation. Allan variance was applied to evaluate the compensated error， and the experiment was carried out on the platform of MCROV underwater robot. The results show that after HDR compensation, the errors of gyroscope are significantly reduced, and the output precision of gyroscope is remarkably improved.
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Received: 07 July 2015
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2016, Vol. 37 
