Development of stochastic IMU error models for INS/GNSS integration

Elisa Gallon, Mathieu Joerger, Boris Pervan

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

1 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021
PublisherInstitute of Navigation
Pages2565-2577
Number of pages13
ISBN (Electronic)9780936406299
DOIs
StatePublished - 2021
Event34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021 - St. Louis, United States
Duration: Sep 20 2021Sep 24 2021

Publication series

NameProceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021

Conference

Conference34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021
Country/TerritoryUnited States
CitySt. Louis
Period9/20/219/24/21

ASJC Scopus subject areas

  • Computer Science Applications
  • Software
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Development of stochastic IMU error models for INS/GNSS integration'. Together they form a unique fingerprint.

Cite this