High Precision Inertial Rotation Rate and Magnetic Field Estimate via Extended Kalman Filter

Recent developments of technology have enabled atomic spins as the most sensitive inertial and magnetic sensors. Atomic spin gyroscope (magnetometer) essentially outputs the estimate of the inertial rotation rate (magnetic filed) to be measured. Conventional methods for estimating a static or quasi-static inertial rotation rate (magnetic field) employ the dependency relationship between the steady state signal and the input rotation rate (magnetic field). In this paper we present an extended Kalman filter (EKF) method for the atomic spin gyroscope and magnetometer. It is demonstrated that the EKF method is much more accurate and faster than the conventional steady state estimation method.