Algorithms for Embedded Controllers in Microgyros

Usage of micromechanical gyros (MMG) in space systems is restricted due to their low precision. For this reason development and investigation of methods and algorithms of increasing the precision is a very important problem. Studies have shown that the usage of firmware control in inertial units allows modification of parameters of gyros in the course of their maintenance. Such estimate allows increasing precision of inertial measurement considerably. The paper presents a method and an algorithm for increasing the accuracy of micromechanical gyroscopes. The method is based on using the Kalman filter for estimation of motion of sensing mass relative to the output axis. This estimation is very effective because deflections of sensing mass relative to the output axis are small in practice (on the order of several angular minutes for micromechanical gyros RR scheme). For this reason the level of noise in the measurements is very significant. The paper presents a result of investigations of ability to use Kalman filter for estimating parameters of MMG and the angular rate of the mobile craft in which this gyroscope is installed. Results of simulation are given and issues of implementation are considered.