I am designing a control system for a hovering quadrotor. The MEMS gyroscope (angular rate) sensors have a slowly drifting zero-rate point. To me, the bias seems fairly constant for several seconds, then jumps to a new value, and this pattern repeats. Both the time and the magnitude of the jump seem random. I know the "best" way to compensate for this would be to use a sensor fusion algorithm with another sensor type, but I was wondering if there were a signal processing technique that could be used.
I have tried using a low-pass filter and a simple "deadzone", and both worked somewhat, but not as well as I'd like. I'm going to use the signal directly for rate feedback and integrate it to come up with attitude feedback, if that helps.
Thanks in advance Roy