A two-step computationally efficient procedure for IMU classification and calibration

Gaetan Bakalli, Ahmed Radi, Sameh Nassar, Stephane Guerrier, Yuming Zhang, Roberto Molinari

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

The task of inertial sensor calibration has always been challenging, especially when dealing with stochastic errors that remain after the deterministic errors have been filtered out. Among others, the number of observations is becoming increasingly high since sensor measurements are taken at high frequencies over longer periods of time, thereby placing considerable limitations on the estimation of the complex models that characterize stochastic errors (without considering testing and selection procedures). Moreover, before estimating these models, there is a need for tests that determine whether the error signals are characterized by a model that remains constant over time and, if so, which model best predicts these errors. Considering these needs, this paper presents an open-source software platform that allows practitioners to carry out these procedures by making use of two recent proposals which stem from the Generalized Method of Wavelet Moments framework. These proposals make use of the growing amount of signal replicates issued during sensor calibration procedures and the proposed platform allows users to easily employ various functions that implement these methods in a user-friendly and computationally efficient manner.

Original languageEnglish (US)
Title of host publication2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages534-540
Number of pages7
ISBN (Electronic)9781538616475
DOIs
StatePublished - Jun 5 2018
Event2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018 - Monterey, United States
Duration: Apr 23 2018Apr 26 2018

Publication series

Name2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018 - Proceedings

Other

Other2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018
CountryUnited States
CityMonterey
Period4/23/184/26/18

All Science Journal Classification (ASJC) codes

  • Automotive Engineering
  • Aerospace Engineering
  • Control and Optimization

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  • Cite this

    Bakalli, G., Radi, A., Nassar, S., Guerrier, S., Zhang, Y., & Molinari, R. (2018). A two-step computationally efficient procedure for IMU classification and calibration. In 2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018 - Proceedings (pp. 534-540). (2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/PLANS.2018.8373423