|Table of Contents|

[1] Chen Wei, Li Xu, Zhang Weigong,. Gross errors identification and correctionof in-vehicle MEMS gyroscope based on time series analysis [J]. Journal of Southeast University (English Edition), 2013, 29 (2): 170-174. [doi:10.3969/j.issn.1003-7985.2013.02.011]

Gross errors identification and correctionof in-vehicle MEMS gyroscope based on time series analysis()

Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

2013 2
Research Field:
Traffic and Transportation Engineering
Publishing date:


Gross errors identification and correctionof in-vehicle MEMS gyroscope based on time series analysis
Chen Wei Li Xu Zhang Weigong
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
microelectromechanical system(MEMS)gyroscope autoregressive integrated moving average(ARIMA)model time series analysis gross errors
This paper presents a novel approach to identify and correct the gross errors in the microelectromechanical system(MEMS)gyroscope used in ground vehicles by means of time series analysis. According to the characteristics of autocorrelation function(ACF)and partial autocorrelation function(PACF), an autoregressive integrated moving average(ARIMA)model is roughly constructed. The rough model is optimized by combining with Akaike’s information criterion(AIC), and the parameters are estimated based on the least squares algorithm.After validation testing, the model is utilized to forecast the next output on the basis of the previous measurement.When the difference between the measurement and its prediction exceeds the defined threshold, the measurement is identified as a gross error and remedied by its prediction. A case study on the yaw rate is performed to illustrate the developed algorithm. Experimental results demonstrate that the proposed approach can effectively distinguish gross errors and make some reasonable remedies.


[1] Liu Hang, Nassar S, El-Sheimy N. Two-filter smoothing for accurate INS/GPS land-vehicle navigation in urban centers [J]. IEEE Transactions on Vehicle Technology, 2010, 59(9): 4256-4267.
[2] Yang Y, Farrell J A. Magnetometer and differential carrier phase GPS-aided INS for advanced vehicle control [J]. IEEE Transactions on Robotics and Automation, 2003, 19(2): 269-281.
[3] Soloviev A. Tight coupling of GPS, INS, and laser for urban navigation [J]. IEEE Transactions on Aerospace and Electronic Systems, 2010, 46(4): 1731-1746.
[4] Li Xu, Zhang Weigong. SINS/DGPS/vision/digital map integrated navigation technique for intelligent vehicles [J]. Journal of Chinese Inertial Technology, 2007, 15(3): 316-321.(in Chinese)
[5] Tsai Chun-Wei, Chen Kai-hsin, Shen Ching-Kai, et al. A MEMS doubly decoupled gyroscope with wide driving frequency range [J]. IEEE Transactions on Industrial Electronics, 2012, 59(12): 4921-4928.
[6] Piyabongkarn D, Rajamani R, Greminger M. The development of a MEMS gyroscope for absolute angle measurement [J]. IEEE Transactions on Control Systems Technology, 2005, 13(2): 185-195.
[7] Park S, Horowitz R, Hong S K, et al. Trajectory-switching algorithm for a MEMS gyroscope [J]. IEEE Transactions on Instrumentation and Measurement, 2007, 56(6): 2561-2569.
[8] Liu Zhiping. Treatment analysis of rough error about measurement instrument [J]. Electronic Measurement Technology, 2009, 32(11): 55-58.(in Chinese)
[9] Sui Wentao, Zhang Dan. Gross error judging technology in test system [J]. Electrical Measurement & Instrumentation, 2006, 43(11): 60-62.(in Chinese)
[10] Ghosh B, Basu B, O’Mahony M. Multivariate short-term traffic flow forecasting using time-series analysis [J]. IEEE Transactions on Intelligent Transportation System, 2009, 10(2): 246-254.
[11] Wu T N, Lee J Y, Huang C H. Application of time series analysis on temporal variation of fluoride in groundwater around Southern Taiwan Science Park [C]//Seventh International Conference on Fuzzy System and Knowledge Discovery. Yantai, China, 2010: 2255-2259.
[12] Chen P, Pedersen T, Bak-Jensen B, et al. ARIMA-based time series model of stochastic wind power generation [J]. IEEE Transactions on Power Systems, 2010, 25(2): 667-676.


Biographies: Chen Wei(1985—), male, graduate; Li Xu(corresponding author), male, doctor, associate professor, lixu.mail@163.com.
Foundation items: The National Natural Science Foundation of China(No.61273236), the Natural Science Foundation of Jiangsu Province(No.BK2010239), the Ph.D. Programs Foundation of Ministry of Education of China(No.200802861061).
Citation: Chen Wei, Li Xu, Zhang Weigong. Gross errors identification and correction of in-vehicle MEMS gyroscope based on time series analysis[J].Journal of Southeast University(English Edition), 2013, 29(2):170-174.[doi:10.3969/j.issn.1003-7985.2013.02.011]
Last Update: 2013-06-20