低成本IMU误差辨识与补偿算法

低成本IMU具有误差大、误差随温度变化明显等特点,并且不同IMU误差差异较大,应用时需深入辨识所使用IMU误差特性,并补偿,以提升应用效果;为此形成了一种预处理算法流程,首先应用Allan方差分析IMU随机误差情况;为抑制噪声干扰,提升IMU应用性能,然后应用IIR滤波器对IMU数据进行预滤波处理,抑制非相关噪声;最后提出了预处理算法处理实测IMU数据,实验结果充分证实了Allan方差误差参数辨识的有效性,以及IIR滤波器抑制非相关噪声的有效性。

Algorithm of Error Identification and Compensation for Low Cost IMU

Low cost IMU has the features of large error, error changing with environment temperature and different IMU different error et al. Algorithm of error identification and compensation should be deeply re- searched when applying. With this purpose of an IMU data preprocessing algorithm proposed in this paper, firstly, IMU stochastic error was analyzed by Allan variance. Secondly, in order to reduce error disturb- ance and enhancing IMU performance, IIR filter was used for uncorrelated error filtering from IMU data. Finally, the proposed algorithm was verified by processing real measured IMU data. The effective of Allan variance in error identification and IIR filter in uncorrelated error suppression are verified from the results.