Delay-Free Tracking Differentiator Design Based on Variational Mode Decomposition: Application on MEMS Gyroscope Denoising

Table 6

Comparison of random noise coefficients by Allan variance analysis.

	Q (μ rad)	N (°/ h^1/2)	B (°/h)	K (°/h^3/2)	R (°/h^2)
Original	103.94	6.84	166.60	126.65	189.24
STD	54.87	0.98	58.94	96.89	188.90
DFA-VMD	48.90	0.87	52.34	85.67	189.18
EMD-FLP	8.54	0.15	9.28	79.20	187.47
ARKF	13.11	0.47	28.57	71.72	187.33
VMD-STD	3.65	0.10	6.55	60.88	187.12