Microelectromechnical Systems Inertial Measurement Unit Error Modelling and Error Analysis for Low-cost Strapdown Inertial Navigation System
Microelectromechnical Systems Inertial Measurement Unit Error Modelling and Error Analysis for Low-cost Strapdown Inertial Navigation System
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DOI：
10.14429/dsj.59.1571
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发表时间：
2009-11-01
影响因子：
0.9
通讯作者：
Shanmugam, J.
中科院分区：
文献类型：
--
作者：
Ramalingam, R.;Anitha, G.;Shanmugam, J.
针对一种低成本捷联惯导系统中的微机电系统（MEMS）惯性测量单元（IMU）进行了误差建模和误差分析。惯导系统由惯性测量单元和导航处理器组成。IMU提供车辆在所有三个轴上的加速度和角速率。本文采用Allan方差法对影响MEMS惯性测量单元的误差进行了随机建模和分析。利用小波分解去除影响传感器的高频噪声，得到噪声较小的角速率和加速度原始值。结果表明，传感器输出误差的影响，Allan方差对随机误差的解释，小波分解对惯性传感器原始数据去噪后的精度提高。
This paper presents error modelling and error analysis of microelectromechnical systems (MEMS) inertial measurement unit (IMU) for a low-cost strapdown inertial navigation system (INS). The INS consists of IMU and navigation processor. The IMU provides acceleration and angular rate of the vehicle in all the three axes. In this paper, errors that affect the MEMS IMU, which is of low cost and less volume, are stochastically modelled and analysed using Allan variance. Wavelet decomposition has been introduced to remove the high frequency noise that affects the sensors to obtain the original values of angular rates and accelerations with less noise. This increases the accuracy of the strapdown INS. The results show the effect of errors in the output of sensors, easy interpretation of random errors by Allan variance, the increase in the accuracy when wavelet decomposition is used for denoising inertial sensor raw data.