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Micromachines 2018, 9(1), 22; https://doi.org/10.3390/mi9010022

Analysis of Correlation in MEMS Gyroscope Array and its Influence on Accuracy Improvement for the Combined Angular Rate Signal

1
Xi’an Research Inst. of Hi-Tech, Hongqing Town, Xi’an 710025, China
2
Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace, Northwestern Polytechnical University, No. 127 Youyi West Road, Xi’an 710072, China
*
Author to whom correspondence should be addressed.
Received: 26 November 2017 / Revised: 23 December 2017 / Accepted: 5 January 2018 / Published: 9 January 2018
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Abstract

Obtaining a correlation factor is a prerequisite for fusing multiple outputs of a mircoelectromechanical system (MEMS) gyroscope array and evaluating accuracy improvement. In this paper, a mathematical statistics method is established to analyze and obtain the practical correlation factor of a MEMS gyroscope array, which solves the problem of determining the Kalman filter (KF) covariance matrix Q and fusing the multiple gyroscope signals. The working principle and mathematical model of the sensor array fusion is briefly described, and then an optimal estimate of input rate signal is achieved by using of a steady-state KF gain in an off-line estimation approach. Both theoretical analysis and simulation show that the negative correlation factor has a favorable influence on accuracy improvement. Additionally, a four-gyro array system composed of four discrete individual gyroscopes was developed to test the correlation factor and its influence on KF accuracy improvement. The result showed that correlation factors have both positive and negative values; in particular, there exist differences for correlation factor between the different units in the array. The test results also indicated that the Angular Random Walk (ARW) of 1.57°/h0.5 and bias drift of 224.2°/h for a single gyroscope were reduced to 0.33°/h0.5 and 47.8°/h with some negative correlation factors existing in the gyroscope array, making a noise reduction factor of about 4.7, which is higher than that of a uncorrelated four-gyro array. The overall accuracy of the combined angular rate signal can be further improved if the negative correlation factors in the gyroscope array become larger. View Full-Text
Keywords: mircoelectromechanical system (MEMS) gyroscope; noise correlation; sensor array; influence analysis; accuracy improvement mircoelectromechanical system (MEMS) gyroscope; noise correlation; sensor array; influence analysis; accuracy improvement
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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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Xue, L.; Wang, X.; Yang, B.; Yuan, W.; Yuan, G. Analysis of Correlation in MEMS Gyroscope Array and its Influence on Accuracy Improvement for the Combined Angular Rate Signal. Micromachines 2018, 9, 22.

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