Aiming at the problem of performance degradation of MEMS gyroscope in random vibration environments

a method combining multiple unrelated gyroscope to improve gyroscope vibration performance is proposed.The first-order Markov model is used to establish the random error model of the MEMS gyroscope

and the recursive formula of adaptive Kalman filtering based on this model is derived.On this basis

the convergence judgment basis is introduced to suppress the filter divergence

and then

the covariance trace minimum criterion is used to calculate the optimal weight fusion data to suppress the vibration error of gyroscope.The experimental results show that compared with a single gyroscope

the variance of the random vibration errors of the gyroscope array is reduced by 98.43%

which proves the effectiveness of the proposed filtering fusion method based on array technology.