Identification and Compensation of Gyroscope Measurement Errors: Signal Filtering Based on Static and Dynamic Measurements in an Inertial Navigation System

This paper addresses the issue of identifying measurement errors in the MEMS gyroscope, which serves as the primary source of data for the rocket’s inertial navigation system (INS). The research focused on error analysis through static and dynamic testing, followed by a detailed analysis of angular velocity measurement data from the flight of a stabilized rocket, guided to a specific point in space. The objective of the study was to determine and filter gyroscope measurement errors, such as bias, random walk, and noise. An adaptive filter was proposed, which adjusts to the changing dynamics of the rocket, allowing for more effective compensation of these errors. In the final section, conclusions are presented that identified shortcomings in the algorithm and outlined directions for further work on its optimization. The algorithm was validated in static, dynamic, and actual rocket flight conditions.