Multiscale filtering methods for MEMS gyros random drift
Fan Yue-zhu · Journal of Chinese Inertial Technology · 2007
Wavelet theory and multiscale analysis method were adopted to compensate the random drift from MEMS(Micro Electro Mechanical System) gyros. In order to estimate the carrier’s attitudes more accurately, the drift of MEMS gyros were decomposed with depth of 4 using db4 wavelet, and 5 groups of wavelet data were derived. On each scale, the signal was rebuilt, so 5 groups of multiscale gyros drift data were got. After modeling the data, the multiscale timeseries model of MEMS gyros random drift could be built. A dispersed system model was built based on the multicale timeseries model. Finally a Kalman filter was applied to filter the gyros random drift from each scale. The result shows that the SNR is reduced by the method.