Improved virtual gyroscope technology based on "current" probability density model.

Aiming at low precision of a micro-electromechanical systems (MEMS) gyroscope, the virtual gyroscope technology is used to fuse the data of several MEMS gyroscopes. In traditional virtual gyroscope technology, the angular acceleration of maneuver is modeled as white noise, which leads to low fusion accuracy in the dynamic state. So, the "current" probability density model is introduced to model the maneuvering angular rate accurately.