A time-controllable Allan variance method for MEMS IMU

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	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)
刊名	Industrial Robot
	2013
卷号	40 期号:2 页码:111-120
关键词	Gyroscopes MEMS Units of measurement
ISSN号	0143-991X
通讯作者	王哲龙
产权排序	2
中文摘要	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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Industrial ; Robotics
研究领域[WOS]	Engineering ; Robotics
关键词[WOS]	INERTIAL NAVIGATION ; IMPLEMENTATION ; PERFORMANCE ; CALIBRATION ; INTEGRATION ; ATTITUDE ; SENSORS ; SYSTEM ; GPS ; INS
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000317151400004
公开日期	2013-04-21
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/10625]
专题	沈阳自动化研究所_机器人学研究室
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.