Controls of MEMS Vibratory Gyroscope Systems Using Extended Kalman Filter

• Main Authors: Yen-Pin Peng, 彭彥斌
• Other Authors: Tsung-Lin Chen
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/52417689979898438721

碩士 === 國立交通大學 === 機械工程系所 === 97 === In this thesis, we present a novel approach to estimate angular rates of MEMS vibratory gyroscope systems. Different from most of the existing methods, wherein all system parameters were assumed to be known and system measurements were noise-free, this method uses extend Kalman filter (EKF) techniques to estimate all the system parameters, including the angular rate. And, it nulls out the noise from system measurements and thus increases the sensing accuracy for gyroscope systems. Simulation results indicate that the proposed method can estimate all the system parameter correctly. The estimation accuracy of angular rate is when the standard deviation of the measurement noise is (signal-to-noise ratio is about twenty). In addition, the proposed method can be used to compensate the damping terms and “coupling forces” in gyroscope systems. Subsequently, the rotation angles can be calculated directly. As compared to the conventional methods wherein the angles were obtained by integrating angular rates over time, the proposed method does not suffer from the error accumulations and thus more accurate.