MEMS error modeling based on Allan variance for particle filtering

MEMS gyroscope is a kind of micro electro-mechanical integrative system which can measure the direction of carrier very conveniently,while zero-bias stability is the enormous limit of gyroscope performance.The zero-bias stability of MEMS gyroscope was improved by the method of particle filtering based on analyzing and modeling its random drift error,via Allan variance.The experimental result indicats that this simple and practical method can obviously enhance the zero-bias stability of MEMS gyroscope.