Robust M-estimation filter for MEMS gyro array processing

Kuan Ying Huang, Jyh Ching Juang, Tom Lin, Ming Yu Hsieh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


Due to the rapid development in semiconductor technology, MEMS (microelectromechanical system)-based sensors have been widely used in commercial and military applications. These sensors are characterized by their small size, low cost, low power consumption. However, MEMS sensors are noted for their low accuracy, limiting the applicability in high precision navigation and control. In this paper, a MEMS gyroscope array is developed to account for the limitation of an individual sensor. The key is to develop a robust M-estimation filter to process the sensor array data in real time so as to provide a more accurate estimate of the angular rate, to render fault tolerance capability, and to facilitate signal quality index for system integration. The robust M-estimation Kalman filter is implemented in a DSP/FPGA platform to account for random bias and random walk. In addition, the M-estimation technique is used to accommodate outliers. Allan variance and FFT method are employed as an analyzing tool to quantify the performance. It is verified that the proposed robust M-estimation filter is capable of suppressing non-Gaussian impulse noise and providing a high-Accuracy angular rate measurement.

Original languageEnglish
Title of host publication2016 International Automatic Control Conference, CACS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509041084
Publication statusPublished - 2017 Jul 10
Event2016 International Automatic Control Conference, CACS 2016 - Taichung, Taiwan
Duration: 2016 Nov 92016 Nov 11

Publication series

Name2016 International Automatic Control Conference, CACS 2016


Other2016 International Automatic Control Conference, CACS 2016

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering
  • Control and Optimization


Dive into the research topics of 'Robust M-estimation filter for MEMS gyro array processing'. Together they form a unique fingerprint.

Cite this