On-line parameter estimation of low-cost MEMS gyro

One of the principle difficulties in the application of micromechanical gyro to the measurement of the attitude of Trajectory correction projectile is that the time interval of in-motion alignment is too short after the actual shooting, about several seconds, while it needs for several seconds or more for a gyro to reach the thermal equilibrium. So the initial drift must be compensated before the gyro can be applied to the measuring of the attitude. This paper presents the study of the initial drift and a real-time calibration algorithm for micromechanical gyros and Magnetic sensors is proposed.