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Related Experiment Video

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Gyro Drift Correction for An Indirect Kalman Filter Based Sensor Fusion Driver.

Chan-Gun Lee1, Nhu-Ngoc Dao2, Seonmin Jang3

  • 1School of Computer Science and Engineering, Chung-Ang University, Seoul 156-756, Korea. cglee@cau.ac.kr.

Sensors (Basel, Switzerland)
|June 14, 2016
PubMed
Summary

This study introduces a novel mechanism to fix gyroscope drift in sensor fusion, significantly improving orientation accuracy for mobile applications. The solution enhances user experience without requiring app reprogramming.

Keywords:
accuracy improvementgyro drift correctionindirect Kalman filtersensor fusion

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Area of Science:

  • Mobile computing and sensor technology
  • Signal processing and data fusion

Background:

  • Mobile applications rely on multi-sensing data (e.g., navigation, fitness trackers, VR games).
  • Gyroscope and accelerometer accuracy are critical for user experience (UX).
  • Gyro drift in indirect Kalman filter-based sensor fusion degrades orientation computation accuracy.

Purpose of the Study:

  • To propose a novel mechanism for resolving gyroscope drift in sensor fusion.
  • To enhance the accuracy of orientation computations in indirect Kalman filters.
  • To provide a solution compatible with legacy applications without reprogramming.

Main Methods:

  • Developed a mechanism targeting external feedback loops and non-gyro error elements in Kalman filter state vectors.
  • Implemented the mechanism at the device-driver layer for low latency and transparency.
  • Validated the mechanism's effectiveness through experimental analysis.

Main Results:

  • Significantly reduced root mean square errors (RMSE) from 6.3 × 10⁻¹ to 5.3 × 10⁻⁷.
  • Demonstrated improved accuracy in orientation computations.
  • Confirmed compatibility with existing applications, requiring no reprogramming.

Conclusions:

  • The proposed mechanism effectively resolves gyroscope drift in sensor fusion.
  • The solution enhances mobile application accuracy and user experience.
  • Device-driver layer implementation ensures broad applicability and ease of integration.