TY - GEN
T1 - Improving modeling of MEMS-IMUs operating in GNSS-denied conditions
AU - Stebler, Yannick
AU - Guerrier, Stéphane
AU - Skaloud, Jan
AU - Victoria-Feser, Maria Pia
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:84861407170
SN - 9781618394750
T3 - 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
SP - 2417
EP - 2426
BT - 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
T2 - 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
Y2 - 19 September 2011 through 23 September 2011
ER -