Adaptive gyroscope drift compensation based on temporal noise modelling

2016 International Conference on Microelectronics, Computing and Communications (MicroCom) Pub Date : 1900-01-01 DOI:10.1109/MICROCOM.2016.7522471

Priydarshi, Raman Jaiswal, Renju C. Nair, Naveen Krishna Yarlagadda, A. Senapati, Prabhushetty Mulage

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引用次数: 4

Abstract

Gyroscope is widely used in applications like Indoor navigation, path tracking, motion sensor fusion, Video stabilization etc. This sensor is known for its susceptibility towards bias drift and dynamic errors which compromise the performance and user experience. The static bias error, random white noise and temperature interference makes it difficult to manage the drift in real time applications for hand held devices. This paper categorizes various error sources and their impact on actual gyroscope measurements. Based on the category and experimental observations, inferences are drawn and an Adaptive Bias Correction method proposed to compensate these random and static bias errors. The paper concludes performance and stability of the proposed novel method over various gyroscope chips from different chip manufacturers. Comparison of key performance indicators derived with and without algorithms on various use cases confirms the accuracy of algorithm.

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基于时间噪声建模的自适应陀螺仪漂移补偿

陀螺仪广泛应用于室内导航、路径跟踪、运动传感器融合、视频稳定等领域。这种传感器以其对偏置漂移和动态误差的敏感性而闻名，这会损害性能和用户体验。静态偏置误差、随机白噪声和温度干扰使得在手持设备的实时应用中难以控制漂移。本文对各种误差源进行了分类，并分析了误差源对陀螺仪实际测量的影响。基于分类和实验观察，提出了一种自适应偏差校正方法来补偿这些随机和静态偏差误差。本文总结了该方法在不同芯片制造商的陀螺仪芯片上的性能和稳定性。通过对不同用例下使用和不使用算法得到的关键性能指标的比较，证实了算法的准确性。

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2016 International Conference on Microelectronics, Computing and Communications (MicroCom)

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