A new virtual gyroscope with multi-gyroscope and accelerometer array (MGAA) is proposed in this article for improving the performance of angular rate measurement. Outputs of the virtual gyroscope are obtained by merging the signals from gyroscopes and accelerometers through a novel Kalman filter, which intentionally takes the consideration of the MEMS gyroscope error model and kinematics theory of rigid body. A typical configuration of the virtual gyroscope, consisting of four accelerometers and three gyroscopes mounted on designated positions, is initiated to verify the feasibility of the virtual gyroscope with MGAA. Static test and dynamic test are performed subsequently to evaluate its performance. The angular random walk (ARW) and bias instability, two static performance parameters of gyroscope, are reduced from 0.019°/√s and 14.4°/h to 0.0074°/√s and 8.7°/h, respectively. The average root mean square error (RMSE) is reduced from 0.274°/s to 0.133°/s under dynamic test. Compared with the published multi-gyroscope array method, the virtual gyroscope proposed here has a better performance both in static and dynamic tests, with improvement factors of ARW and RMSE about 44.1% and 44.5% higher, respectively.
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August 2016
Research Article|
August 09 2016
Design and analysis of a novel virtual gyroscope with multi-gyroscope and accelerometer array
Zhang Luo;
Zhang Luo
1School of Mechanical and Engineering,
Huazhong University of Science and Technology
, Wuhan 430074, China
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Chaojun Liu;
Chaojun Liu
1School of Mechanical and Engineering,
Huazhong University of Science and Technology
, Wuhan 430074, China
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Shuai Yu;
Shuai Yu
1School of Mechanical and Engineering,
Huazhong University of Science and Technology
, Wuhan 430074, China
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Shengzhi Zhang;
Shengzhi Zhang
1School of Mechanical and Engineering,
Huazhong University of Science and Technology
, Wuhan 430074, China
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Author to whom correspondence should be addressed. Electronic mail: [email protected]. Tel.: +86-27-8754-2604. Fax: +86-27-8755-7074.
Rev. Sci. Instrum. 87, 085003 (2016)
Article history
Received:
April 12 2016
Accepted:
July 21 2016
Citation
Zhang Luo, Chaojun Liu, Shuai Yu, Shengzhi Zhang, Sheng Liu; Design and analysis of a novel virtual gyroscope with multi-gyroscope and accelerometer array. Rev. Sci. Instrum. 1 August 2016; 87 (8): 085003. https://doi.org/10.1063/1.4960304
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