UKF Filtering of UAV MEMS Gyro Based on Time-Series Model

The algorithms and the applications of UKF filtering of UAV MEMS Gyro based on time-series model are presented in this paper. First Gyro output signals are preprocessed and modeled by time-series analysis theory, and then use UKF filtering method to compensating error based on the time-series model. Examples with actual experiment demonstrate that the method has apparent superiority. The simulation result shows that, both in static and dynamic cases, after eliminate the precision error MEMS gyro accuracy can achieve the miniature UAV standards.