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Updated: Aug 26, 2026

MPI CyberMotion Simulator: Implementation of a Novel Motion Simulator to Investigate Multisensory Path Integration in Three Dimensions
Published on: May 10, 2012
Improved virtual gyroscope technology based on "current" probability density model
Jin-Long Song1, Zhi-Yong Shi1, Bin-Han Du1
1Army Engineering University, Shijiazhuang 050003, China.
Abstract:
Aiming at low precision of a micro-electromechanical systems (MEMS) gyroscope, the virtual gyroscope technology is used to fuse the data of several MEMS gyroscopes. In traditional virtual gyroscope technology, the angular acceleration of maneuver is modeled as white noise, which leads to low fusion accuracy in the dynamic state. So, the "current" probability density model is introduced to model the maneuvering angular rate accurately. The one-step predictive value of angular acceleration is approximated to the mean value of the current angular acceleration. And the variance of the angular acceleration is modeled by the one-step predictive value of angular acceleration. So, the "current" probability density model is used to realize the adaptive adjustment of the mean and variance of maneuvering angular acceleration, which improves the modeling accuracy of the maneuvering angular rate and the compensation accuracy of virtual gyroscope technology. The improved virtual gyroscope fusion method is verified in a low frequency, high frequency maneuver test. The experimental results show that the 1σ standard deviation of the improved virtual gyroscope fusion error is 6.53 times lower than that of the single gyroscope static drift at low frequency and 2.04 times lower than that of the single gyroscope static drift at high frequency.
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