Comparison of Adaptive Kalman Filters for Suppressing Random Noise of Optical Gyroscopes in Inertial Navigation

Random noise in optical gyroscopes (fiber optic, laser gyroscopes) will make the zero-offset or scale factor drift and unstable, that is a major factor causing errors in strapdown inertial navigation systems over time. In the last decade, many noise reduction methods and noise compensation algorithms have been developed. The most popular are random noise modeling methods combined with methods for their compensation based on adaptive Kalman filters. This paper summarizes, classifies, and compares the methods used over the last 15 years. Their advantages and disadvantages are pointed out, which is the basis for choosing a suitable option in a specific navigation task.