Abstract
This paper presents a bias drift self-calibration method for micro-electromechanical systems (MEMS) gyroscopes based on noise-suppressed mode reversal without the modeling of bias drift signal. At first, the bias drift cancellation is accomplished by periodic switching between operation mode of two collinear gyroscopes and subtracting the bias error which is estimated by the rate outputs from a consecutive period interval; then a novel filtering algorithm based on improved complete ensemble empirical mode decomposition (improved complete ensemble empirical mode decomposition with adaptive noise-CEEMDAN) is applied to eliminate the noise in the calibrated signal. A set of intrinsic mode functions (IMFs) is obtained by the decomposition of the calibrated signal using improved CEEMDAN method, and the threshold denoising method is utilized; finally, the de-noised IMFs are reconstructed into the desired signal. To verify the proposed method, the hardware circuit with an embedded field-programmable gate array (FPGA) was implemented and applied in bias drift calibration for the two MEMS gyroscopes manufactured in our laboratory. The experimental results indicate that the proposed method is feasible, and it achieved a better performance than the typical mode reversal. The bias instability of the two gyroscopes decreased from 0.0066 ° / s and 0.0055 ° / s to 0.0011 ° / s ; and, benefiting from the threshold denoising based on improved CEEMDAN, the angle random walks decreased from 1.18 × 10 - 4 ° / s 1 / 2 and 2.04 × 10 - 4 ° / s 1 / 2 to 2.19 × 10 - 5 ° / s 1 / 2 , respectively.