Signal Processing Technique for Combining Numerous MEMS Gyroscopes Based on Dynamic Conditional Correlation

摘要

A signal processing technique is presented to improve the angular rate accuracy of Micro-Electro-Mechanical System (MEMS) gyroscope by combining numerous gyroscopes. Based on the conditional correlation between gyroscopes, a dynamic data fusion model is established. Firstly, the gyroscope error model is built through Generalized Autoregressive Conditional Heteroskedasticity (GARCH) process to improve overall performance. Then the conditional covariance obtained through dynamic conditional correlation (DCC) estimator is used to describe the correlation quantitatively. Finally, the approach is validated by a prototype of the virtual gyroscope, which consists of six-gyroscope array. The experimental results indicate that the weights of gyroscopes change with the value of error. Also, the accuracy of combined rate signal is improved dramatically compared to individual gyroscope. The results indicate that the approach not only improves the accuracy of the MEMS gyroscope, but also discovers the fault gyroscope and eliminates its influence.