Error Correction of Angular Velocity for Gyroscope using Genetic Algorithm and FIR filter

This paper is research which sensitivity of gyro sensor is optimization. Recently, the MEMS-gyroscope is usually used at mobile robots and AGV by development of MEMS technology. However, the MEMS-gyroscope has measurement error, cumulate error, bias drift, etc. To reduce these errors, measurement of angular velocity using MEMES-gyroscope required high precision and exactly sensitivity. The sensitivity, is a constant to change angular velocity form ADC value, is changed by external factors as installed location and gradient because the MEMS-gyroscope measure angular velocity with inertia. Therefore, this paper proposes to reduce variance of ADC value and to optimize the sensitivity of MEMS-gyroscope using genetic algorithm. To verify performance of proposed method, we attached MEMS-gyroscope to automatic guided vehicle (AGV) of fork type. In experimental result, we verified that the sensitivity using the proposed method is accurate than the sensitivity in specification.