Dynamical Calibration of Rate Gyroscope

摘要

This paper has proposed an approach to dynamical calibration of rate gyroscope. The proposed method has made the scheme of using gyroscope with serious drift in constructing "virtual angle sensor" become reality. The recursive form of compound Simpson formula is deduced. Coefficients of the analytical expression of the relationship between input and output of the "virtual sensor" are derived from linear optimal estimation even when the observation errors are not independent with each other. Calibration can be finished in several seconds or several tens seconds instead of an hour. And the error introduced by origin drift of gyroscope has become such small that it can be omitted.