The MEMS gyro stabilized platform design based on Kalman Filter

According to the characteristics of MEMS gyro, this paper designed a MEMS gyro stabilized platform based on Kalman Filter. Firstly, a hardware stabilized platform system is designed based on MEMS gyro. And then the system controller is designed by the motor frequency response transfer function. Finally, Kalman filter designed to estimate the constant deviation of accelerometer and gyro in pitch axis and electronic compass sensor in azimuth axis. The experimental results showed that Kalman filter can suppress the pitch and azimuth gyro drift effectively, and the system kept in good dynamic performances. The adjustment time of pitch axis is 0.143s without overshoot, and the adjustment time of azimuth axis is 0.184s with overshoot of 11.12%, which satisfied the requirements of the stabilized platform control system completely.