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Sensors 2015, 15(5), 11222-11238; doi:10.3390/s150511222

An Adaptive Compensation Algorithm for Temperature Drift of Micro-Electro-Mechanical Systems Gyroscopes Using a Strong Tracking Kalman Filter

School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
Author to whom correspondence should be addressed.
Academic Editor: Stefano Mariani
Received: 7 February 2015 / Revised: 13 April 2015 / Accepted: 29 April 2015 / Published: 13 May 2015
(This article belongs to the Special Issue Modeling, Testing and Reliability Issues in MEMS Engineering)
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We present an adaptive algorithm for a system integrated with micro-electro-mechanical systems (MEMS) gyroscopes and a compass to eliminate the influence from the environment, compensate the temperature drift precisely, and improve the accuracy of the MEMS gyroscope. We use a simplified drift model and changing but appropriate model parameters to implement this algorithm. The model of MEMS gyroscope temperature drift is constructed mostly on the basis of the temperature sensitivity of the gyroscope. As the state variables of a strong tracking Kalman filter (STKF), the parameters of the temperature drift model can be calculated to adapt to the environment under the support of the compass. These parameters change intelligently with the environment to maintain the precision of the MEMS gyroscope in the changing temperature. The heading error is less than 0.6° in the static temperature experiment, and also is kept in the range from 5° to −2° in the dynamic outdoor experiment. This demonstrates that the proposed algorithm exhibits strong adaptability to a changing temperature, and performs significantly better than KF and MLR to compensate the temperature drift of a gyroscope and eliminate the influence of temperature variation. View Full-Text
Keywords: strong tracking Kalman filter; bias; compass; MEMS gyroscope strong tracking Kalman filter; bias; compass; MEMS gyroscope

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Feng, Y.; Li, X.; Zhang, X. An Adaptive Compensation Algorithm for Temperature Drift of Micro-Electro-Mechanical Systems Gyroscopes Using a Strong Tracking Kalman Filter. Sensors 2015, 15, 11222-11238.

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