Construction of dynamically-dependent stochastic error models

Philipp Clausen, Jan Skaloud, Samuel Orso, Stephane Guerrier

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

1 Scopus citations

Abstract

Stochastic behavior of an instrument is often analyzed by constructing the Allan (or wavelet) variance signatures from an error signal. For inertial sensors, such a signature is conveniently obtained by recording data at rest. The analysis of this signal will result in noise-parameters adequate to such situation. Nonetheless, the value of the noise parameters may change under dynamics or other kind of external influences like for instance the temperature. In this research we study first the influence of the rotational dynamics on the signal of MEMS gyroscopes and then we show how to link this property to the noise-parameter estimation in a rigorous way by a modified version of the Generalized Method of Wavelet Moments (GMWM) estimator. The results of such analysis can then for instance be used in a Kalman filter, where the noise parameters are adapted according to such predetermined functional relationship between sensor noise and the encountered dynamics of the platform/sensor.

Original languageEnglish (US)
Title of host publication2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1336-1341
Number of pages6
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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