@inproceedings{ac6df97e1f69446dbf06fb20d96a5b16,
title = "Development of stochastic IMU error models for INS/GNSS integration",
abstract = "In this paper, we develop, implement, and test a new high-integrity frequency-domain measurement error modeling method for inertial measurement units (IMU). The IMU error modeling method is intended for safety-critical navigation applications. The method uses both the Allan Variance to identify individual IMU error components and the Power Spectral Density (PSD) to derive a bounding error time-correlation model. By upper-bounding the sample PSD of individual IMU error components, we can guarantee a bound on the state estimation error variance. The method is applied using experimental data from a tactical grade IMU.",
author = "Elisa Gallon and Mathieu Joerger and Boris Pervan",
note = "Publisher Copyright: {\textcopyright} 2021 Proceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021. All rights reserved.; 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021 ; Conference date: 20-09-2021 Through 24-09-2021",
year = "2021",
doi = "10.33012/2021.17962",
language = "English (US)",
series = "Proceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021",
publisher = "Institute of Navigation",
pages = "2565--2577",
booktitle = "Proceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021",
address = "United States",
}