Parameter Estimation of MEMS Gyroscope Using Local State Estimation Methods

Extended Kalman filtering based parameter estimation and drift compensation for a MEMS rate integrating gyroscope

“…Kalman filter based parameter estimation applied to gyroscopes are reported in the literature [13][14][15]. However, the methods reported are applied directly to the dynamic equation defined in equation (6).…”

“…There are a few published reports of Kalman filtering (UKF) applied to MEMS gyroscope parameter estimation [13][14][15]. In these cases the estimation is based on the fast time varying dynamics expressed in a Cartesian coordinate system.…”