I am using this gyroscope in order to measure the rotation of my robot around the z axis. I want to implement a kalman filter in order to improve the values. What i came with since now is this space model:
$$ θ(k+1)=θ(k)+dt*θ'(k)+w(k) $$ $$ y(k)=θ(k)+z(k) $$ where $θ$ is the angle, $θ'$ is the angular rate given by the gyro and $w$ is the noise. (I hold up my gyro and measured 50 values while it was steady and find out that the variance is equal to 0.0002). What i want to ask:
- is what i did is correct?
- How can i find out $z(k)$? .According to the data sheet noise density is equal to 0.03 dps/sqrt(hz),how can i use this information to find out $z(k)$ and correct $w(k)$ if it is wrong.