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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)
作者部门机器人学研究室
关键词Gyroscopes Mems Units Of Measurement
发表期刊Industrial Robot
ISSN0143-991X
2013
卷号40期号:2页码:111-120
收录类别SCI ; EI
EI收录号20131116108633
WOS记录号WOS:000317151400004
产权排序2
摘要Purpose; 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.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Industrial ; Robotics
关键词[WOS]INERTIAL NAVIGATION ; IMPLEMENTATION ; PERFORMANCE ; CALIBRATION ; INTEGRATION ; ATTITUDE ; SENSORS ; SYSTEM ; GPS ; INS
WOS研究方向Engineering ; Robotics
引用统计
被引频次:8[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10625
专题机器人学研究室
通讯作者Wang ZL(王哲龙)
作者单位1.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
推荐引用方式
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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