A time-controllable Allan variance method for MEMS IMU
文献类型：期刊论文
| 作者 | Zhao HY(赵红宇); Wang ZL(王哲龙); Shang H(尚红); Hu WJ(胡卫建); Gao Q(高琴) |
| 刊名 | Industrial Robot
 |
| 出版日期 | 2013 |
| 卷号 | 40期号:2页码:111-120 |
| 关键词 | Gyroscopes MEMS Units of measurement |
| ISSN号 | 0143-991X |
| 产权排序 | 2 |
| 通讯作者 | 王哲龙 |
| 中文摘要 | Purpose; The purpose of this paper is to reduce the calculation burden and speed up the estimation process of Allan variance method while ensuring the exactness of the analysis results. Design/methodology/approach; A series of six-hour static tests have been implemented at room temperature, and the static measurements have been collected from MEMS IMU. In order to characterize the various types of random noise terms for the IMU, the basic definition and main procedure of the Allan variance method are investigated. Unlike the normal Allan variance method, which has the shortcomings of processing large data sets and requiring long computation time, a modified Allan variance method is proposed based on the features of data distribution in the log-log plot of the Allan standard deviation versus the averaging time. Findings; Experiment results demonstrate that the modified Allan variance method can effectively estimate the noise coefficients for MEMS IMU, with controllable computation time and acceptable estimation accuracy. Originality/value; This paper proposes a time-controllable Allan variance method which can quickly and accurately identify different noise terms imposed by the stochastic fluctuations. © Emerald Group Publishing Limited. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Industrial ; Robotics |
| 研究领域[WOS] | Engineering ; Robotics |
| 关键词[WOS] | INERTIAL NAVIGATION ; IMPLEMENTATION ; PERFORMANCE ; CALIBRATION ; INTEGRATION ; ATTITUDE ; SENSORS ; SYSTEM ; GPS ; INS |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000317151400004 |
| 公开日期 | 2013-04-21 |
| 源URL | [http://ir.sia.cn/handle/173321/10625]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhao HY,Wang ZL,Shang H,et al. A time-controllable Allan variance method for MEMS IMU[J]. Industrial Robot,2013,40(2):111-120. |
| APA | Zhao HY,Wang ZL,Shang H,Hu WJ,&Gao Q.(2013).A time-controllable Allan variance method for MEMS IMU.Industrial Robot,40(2),111-120. |
| MLA | Zhao HY,et al."A time-controllable Allan variance method for MEMS IMU".Industrial Robot 40.2(2013):111-120. |
入库方式： OAI收割
来源：沈阳自动化研究所
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