Accuracy Improvement of a Multi-MEMS Inertial Measurement Unit by Using an Iterative UFIR Filter

被引:0
作者
Rasoulzadeh, Raouf [1 ]
Shahri, Alireza Mohammad [1 ]
机构
[1] Islamic Azad Univ, Qazvin branch, Dept Elect Biomed & Mechatron Engn, Qazvin, Qazvin Province, Iran
来源
2017 EUROPEAN NAVIGATION CONFERENCE (ENC 2017) | 2017年
关键词
IMU; multi-sensor fusion; Iterative UFIR filter; Inertial Navigation System; DYNAMIC PERFORMANCE; KALMAN-FILTER; FIR FILTER;
D O I
暂无
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
In this paper a two layers multi-sensor fusion method is presented to combine output of four low cost, low accuracy MEMS inertial measurement units (IMU) to be used in an inertial navigation system (INS). A Minimum Mean-Square-Error (MMSE) criterion measurement fuser in the first and an iterative unbiased finite impulse response filter in the second layer are utilized to reduce measurement noise effect. The static experimental results verify that angle random walk (ARW) error for x,y and z axes of combined gyroscope reduces up to 2.37 times. Moreover dynamic experimental results show that by choosing optimal horizon interval, the standard deviation of the multi-IMU decreases by a factor of 5 respect to the mean standard deviation of the four sensors that leads to accuracy improvement compared to the single sensor.
引用
收藏
页码:279 / 286
页数:8
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