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A time-controllable Allan variance method for MEMS IMU
Zhao HY(赵红宇); Wang ZL(王哲龙); Shang H(尚红); Hu WJ(胡卫建); Gao Q(高琴)
Department机器人学研究室
Source PublicationIndustrial Robot
ISSN0143-991X
2013
Volume40Issue:2Pages:111-120
Indexed BySCI ; EI
EI Accession number20131116108633
WOS IDWOS:000317151400004
Contribution Rank2
KeywordGyroscopes Mems Units Of Measurement
AbstractPurpose; The purpose of this paper is to reduce the calculation burden and speed up the estimation process of Allan variance method while ensuring the exactness of the analysis results. Design/methodology/approach; A series of six-hour static tests have been implemented at room temperature, and the static measurements have been collected from MEMS IMU. In order to characterize the various types of random noise terms for the IMU, the basic definition and main procedure of the Allan variance method are investigated. Unlike the normal Allan variance method, which has the shortcomings of processing large data sets and requiring long computation time, a modified Allan variance method is proposed based on the features of data distribution in the log-log plot of the Allan standard deviation versus the averaging time. Findings; Experiment results demonstrate that the modified Allan variance method can effectively estimate the noise coefficients for MEMS IMU, with controllable computation time and acceptable estimation accuracy. Originality/value; This paper proposes a time-controllable Allan variance method which can quickly and accurately identify different noise terms imposed by the stochastic fluctuations. © Emerald Group Publishing Limited.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Industrial ; Robotics
WOS KeywordINERTIAL NAVIGATION ; IMPLEMENTATION ; PERFORMANCE ; CALIBRATION ; INTEGRATION ; ATTITUDE ; SENSORS ; SYSTEM ; GPS ; INS
WOS Research AreaEngineering ; Robotics
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10625
Collection机器人学研究室
Corresponding AuthorWang ZL(王哲龙)
Affiliation1.Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
3.National Earthquake Response Support Service, Beijing, China
Recommended Citation
GB/T 7714
Zhao HY,Wang ZL,Shang H,et al. A time-controllable Allan variance method for MEMS IMU[J]. Industrial Robot,2013,40(2):111-120.
APA Zhao HY,Wang ZL,Shang H,Hu WJ,&Gao Q.(2013).A time-controllable Allan variance method for MEMS IMU.Industrial Robot,40(2),111-120.
MLA Zhao HY,et al."A time-controllable Allan variance method for MEMS IMU".Industrial Robot 40.2(2013):111-120.
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