Wavelet de-noising for IMU alignment
Wavelet de-noising for IMU alignment
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DOI：
10.1109/maes.2004.1365016
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发表时间：
2004-10-01
影响因子：
3.6
通讯作者：
Noureldin, A
中科院分区：
文献类型：
--
作者：
El-Sheimy, N;Nassar, S;Noureldin, A
惯性导航系统（INS）目前在航空航天系统和陆地车辆导航中得到了广泛的应用。INS通过处理惯性测量单元（IMU）的加速度和角速度测量值来确定移动平台的位置、速度和姿态。IMU初始姿态角的准确估计是保证运动平台位置和姿态精确确定的关键。这些初始姿态角通常使用对准技术估计。由于传感器测量（特别是陀螺仪）的信噪比相对较低，初始姿态角的计算可能不够准确。此外，估计的初始姿态角可能存在较大的不确定性，影响其他导航参数的精度。本文建议对陀螺和加速度计的测量数据进行多级小波分解，去除高频噪声成分。将所提出的小波去噪方法应用于某导航级惯性测量单元（LTN90-100）。结果表明，该估计算法在减小姿态角估计协方差的基础上，获得了精确的对准过程和快速的收敛性。
Inertial navigation system (INS) is presently used in several applications related to aerospace systems and land vehicle navigation. An INS determines the position, velocity, and attitude of a moving platform by processing the accelerations and angular velocity measurements of an inertial measurement unit (IMU). Accurate estimation of the initial attitude angles of an IMU is essential to ensure precise determination of the position and attitude of the moving platform. These initial attitude angles are usually estimated using alignment techniques. Due to the relatively low signal-to-noise ratio of the sensor measurement (especially for the gyroscopes), the initial attitude angles may not be computed accurately enough. In addition, the estimated initial attitude angles may have relatively large uncertainties that may affect the accuracy of other navigation parameters. This article suggests processing the gyro and accelerometer measurements with multiple levels of wavelet decomposition to remove the high frequency noise components. The proposed wavelet de-noising method was applied on a navigational grade inertial measurement unit (LTN90-100). The results showed that accurate alignment procedure and fast convergence of the estimation algorithm, in addition to reducing the estimation covariance of the three attitude angles, could be obtained.