TY - GEN
T1 - Construction of dynamically-dependent stochastic error models
AU - Clausen, Philipp
AU - Skaloud, Jan
AU - Orso, Samuel
AU - Guerrier, Stephane
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/6/5
Y1 - 2018/6/5
N2 - Stochastic behavior of an instrument is often analyzed by constructing the Allan (or wavelet) variance signatures from an error signal. For inertial sensors, such a signature is conveniently obtained by recording data at rest. The analysis of this signal will result in noise-parameters adequate to such situation. Nonetheless, the value of the noise parameters may change under dynamics or other kind of external influences like for instance the temperature. In this research we study first the influence of the rotational dynamics on the signal of MEMS gyroscopes and then we show how to link this property to the noise-parameter estimation in a rigorous way by a modified version of the Generalized Method of Wavelet Moments (GMWM) estimator. The results of such analysis can then for instance be used in a Kalman filter, where the noise parameters are adapted according to such predetermined functional relationship between sensor noise and the encountered dynamics of the platform/sensor.
AB - Stochastic behavior of an instrument is often analyzed by constructing the Allan (or wavelet) variance signatures from an error signal. For inertial sensors, such a signature is conveniently obtained by recording data at rest. The analysis of this signal will result in noise-parameters adequate to such situation. Nonetheless, the value of the noise parameters may change under dynamics or other kind of external influences like for instance the temperature. In this research we study first the influence of the rotational dynamics on the signal of MEMS gyroscopes and then we show how to link this property to the noise-parameter estimation in a rigorous way by a modified version of the Generalized Method of Wavelet Moments (GMWM) estimator. The results of such analysis can then for instance be used in a Kalman filter, where the noise parameters are adapted according to such predetermined functional relationship between sensor noise and the encountered dynamics of the platform/sensor.
UR - http://www.scopus.com/inward/record.url?scp=85048879083&partnerID=8YFLogxK
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U2 - 10.1109/PLANS.2018.8373524
DO - 10.1109/PLANS.2018.8373524
M3 - Conference contribution
AN - SCOPUS:85048879083
T3 - 2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018 - Proceedings
SP - 1336
EP - 1341
BT - 2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018
Y2 - 23 April 2018 through 26 April 2018
ER -