NDLI: A framework for inertial sensor calibration using complex stochastic error models

Content Provider	IEEE Xplore Digital Library
Author	Stebler, Y. Guerrier, S. Skaloud, J. Victoria-Feser, M.
Copyright Year	2012
Description	Author affiliation: University of Geneva, Research Center for Statistics and Department of Management Sciences, CH-1211, Switzerland (Guerrier, S.; Victoria-Feser, M.) \|\| École Polytechnique Fédérale de Lausanne (EPFL), Geodetic Engineering Laboratory (TOPO), CH-1015, Switzerland (Stebler, Y.; Skaloud, J.)
Abstract	Modeling and estimation of gyroscope and accelerometer errors is generally a very challenging task, especially for low-cost inertial MEMS sensors whose systematic errors have complex spectral structures. Consequently, identifying correct error-state parameters in a INS/GNSS Kalman filter/smoother becomes difficult when several processes are superimposed. In such situations, the classical identification approach via Allan Variance (AV) analyses fails due to the difficulty of separating the error-processes in the spectral domain. For this purpose we propose applying a recently developed estimation method, called the Generalized Method of Wavelet Moments (GMWM), that is excepted from such inconveniences. This method uses indirect inference on the parameters using the wavelet variances associated to the observed process. In this article, the GMWM estimator is applied in the context of modeling the behavior of low-cost inertial sensors. Its capability to estimate the parameters of models such as mixtures of GM processes for which no other estimation method succeeds is first demonstrated through simulation studies. The GMWM estimator is also applied on signals issued from a MEMS-based inertial measurement unit, using sums of GM processes as stochastic models. Finally, the benefits of using such models is highlighted by analyzing the quality of the determined trajectory provided by the INS/GNSS Kalman filter, in which artificial GNSS gaps were introduced. During these epochs, inertial navigation operates in coasting mode while GNSS-supported trajectory acts as a reference. As the overall performance of inertial navigation is strongly dependent on the errors corrupting its observations, the benefits of using the more appropriate error models (with respect to simpler ones estimated using classical AV graphical identification technique) are demonstrated by a significant improvement in the trajectory accuracy.
Starting Page	849
Ending Page	861
File Size	2579993
Page Count	13
File Format	PDF
ISBN	9781467303859
ISSN	21533598
e-ISBN	9781467303873
DOI	10.1109/PLANS.2012.6236827
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-04-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Accuracy MEMS AV GMWM estimation model identification inertial stochastic
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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