Analyze the static signal of ADXRS gyroscope

use first-order IIR low-pass filter and first-order AR model Kalman filter for denoising of static signal to get static offset signal of gyroscope.Use the principle of the minimum variance of filtered signal to select the optimal low pass filtering coefficient and model noise variance parameters of Kalman filter

compare filtering effect of the two filters.Combine the two filtering methods to get better effect

and this filtering method has advantages of simple algorithm

small calculation amount

and suitable for embedded applications.