Random drift suppression method of MEMS gyro using federated Kalman filter

In order to suppress random drift of MEMS gyro effectively, the gyro angular rate information is fused with the angular rate information which is computed from geomagnetism based on theory of federated Kalman filter in this paper, and global optimum angular information is achieved. Due to the easy disturbance characteristics of the geomagnetism, its angular rate is diagnosed and fixed by fault-tolerant filter to enhance the fault tolerance ability. The method can not only suppress random drift of gyro and improve measurement accuracy of body attitude, but also suppress the interference of geomagnetism and provide accurate angular information for subsequent attitude compute algorithm in this method.