Improving modeling of MEMS-IMUs operating in GNSS-denied conditions

Yannick Stebler, Stéphane Guerrier, Jan Skaloud, Maria Pia Victoria-Feser

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

6 Scopus citations

Abstract

Stochastic modeling is a challenging task for low-cost inertial sensors whose errors can have complex spectral structures. This makes the tuning process of the INS/GNSS Kalman filter often sensitive and difficult. We are currently investigating two approaches for bounding the errors in the mechanization. The first is an improved modeling of stochastic errors through the superposition of several Auto-Regressive (AR) processes. A new algorithm is presented based on the Expectation-Maximization (EM) principle that is able to estimate such complex models. The second approach focuses on redundancy through the use of multiple IMUs which don't need to be calibrated a priori. We present a synthetic IMU computation in which the residuals are modeled by a single ARMA model. The noise power issued from the residuals is then continuously estimated by a GARCH model, which enables a proper weighting of the individual devices in the synthetic IMU.

Original languageEnglish (US)
Title of host publication24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
Pages2417-2426
Number of pages10
StatePublished - 2011
Event24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011 - Portland, OR, United States
Duration: Sep 19 2011Sep 23 2011

Publication series

Name24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
Volume4

Other

Other24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
Country/TerritoryUnited States
CityPortland, OR
Period9/19/119/23/11

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Communication

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