The micro electro mechanical system (MEMS) gyroscopes rnare widely used in many applications for its small rnsize and low rncost. They usually have deterministic system error rnand random error which can only be described by rnstatistical models. First of all, its rnrandom drift error model is created by using the rntime-serial analysis, and then the process of rndecreasing this random drift error by rnmaking use of the square root unscented Kalman filter rn(SRUKF) based on the above error model is expounded. rnThe compensating rnresults for the practical testing data of a MEMS rngyroscope show that the random drift error can be rncontrolled effectively by the rnfiltering method presented, and its application rnprecision in practical system can be further proved.
展开▼
