Calibration and Allan Variance Analyses of Inertial Measurement Unit

  Ritesh Parmar,  Dinesh Yadav,  Vipan Kumar

Inertial measurement unit consists of gyroscopes and accelerometers, which are known as inertial sensors. These sensors are prone to various deterministic and random errors which need to be compensated. This work presents a calibration and stochastic modeling technique for six degree of freedom inertial measurement unit in order to remove these errors from inertial sensors. Calibration of inertial measurement unit is carried out to estimate the coefficients which transform the raw output of sensors into meaningful data. In this paper, allan variance technique is used to model and analyze various random errors present in inertial sensors. This paper covers the theoretical basis of calibration and allan variance along with implementation of these techniques to inertial sensors.

Keywords- Inertial measurement unit, calibration, deterministic errors, allan variance, inertial sensors, random errors

Unique Identification Number - IJEDR1402256
Page Number(s) - 2894-2902
Pubished in - Volume 2 | Issue 2 | June 2014
DOI (Digital Object Identifier) -   
Publisher - IJEDR (ISSN - 2321-9939)

  Ritesh Parmar,  Dinesh Yadav,  Vipan Kumar,   "Calibration and Allan Variance Analyses of Inertial Measurement Unit", International Journal of Engineering Development and Research (IJEDR), ISSN:2321-9939, Volume.2, Issue 2, pp.2894-2902, June 2014, Available at :http://www.ijedr.org/papers/IJEDR1402256.pdf