Design and Implementation of Strong Tracking Combined Filtering Algorithm for MEMS Gyroscope

Strong tracking kalman filter (STKF) algorithm has strong robustness and the ability to track state. In order to improve the filtering precision of STKF algorithm, this paper proposes an improved STKF algorithm to calculate the weakening factor on line, which is combined with the FIR filter to form a combined filter. The combined filter is implemented on DSP to realize real-time error compensation for MEMS gyroscope. The experimental results show that the combined filter not only has strong tracking ability for the state change of MEMS gyroscope, but also improves the filtering accuracy significantly, which makes the measurement noise of MEMS gyroscope in static and dynamic state be reduced by 93.6% and 63.9% respectively.