Resetting the center position can create a jump movement upon tilt past a threshold, but is preferable in many applications to a slow drift or unknown initial state.
The DC drift and initial problems of pure integrator were overcome, and the magnitude and the phase error of one-order low pass filter eliminated by using a novel integration method.
利用改进的磁通积分算法，克服了纯积分器直流漂移和初始值问题，消除了一阶低通滤波器的幅值和相位偏差。
3
Because in U-I model flux observation pure integration element is adopted, it brings about two problems of DC drift error and initial integration error.