Keynote: A Common Framework for Inertial Sensor Error Modeling

Juan D. Jurado and John F. Raquet

Peer Reviewed

Abstract:	The availability of an accurate inertial navigation solution depends largely on the proper calibration of the deterministic errors usually found in inertial navigation systems, but more importantly, on the adequate stochastic modeling of the random errors associated with each inertial sensor. As such, a considerable amount of time and energy has been invested in the understanding and modeling of error sources found in a variety of inertial sensor types and their applications. However, a comprehensive review of academic, vendor, and research literature on the subject matter reveals that although the body of knowledge has large depth and breadth, the community lacks consistency across specialty fields with regards to terminology, unit standardization, and modeling techniques. pecialty fields with regards to terminology, unit standardization, and modeling techniques. This paper aims at providing the navigation community with a common framework for the modeling, simulation, and characterization of errors associated with inertial sensor measurements. The goal is not to replace the various inertial error model descriptions that exist, but to provide a common understanding of how these all relate together. After presenting the range of error models and terms found in literature, the subtle differences in terminology and categorization are compared, correlated, and consolidated into a common model. Next, the Allan Variance method is used to carefully and progressively illustrate how each error component in the common model arises and is identified. The effectiveness of the common model is demonstrated by analyzing stationary data from a real-world inertial measurement unit, comparing the identified error parameters to the vendor specifications, and using the same parameters to produce a simulated signal that closely matches the original. Armed with this common framework, the navigation community will be able to more effectively communicate and exchange ideas on the subject matter, thereby accelerating the progression towards cheaper, more reliable navigation technology with properly modeled inertial sensors at its core.
Published in:	Proceedings of the ION 2017 Pacific PNT Meeting May 1 - 4, 2017 Marriott Waikiki Beach Resort & Spa Honolulu, Hawaii
Pages:	725 - 740
Cite this article:	Jurado, Juan D., Raquet, John F., "Keynote: A Common Framework for Inertial Sensor Error Modeling," Proceedings of the ION 2017 Pacific PNT Meeting, Honolulu, Hawaii, May 2017, pp. 725-740. https://doi.org/10.33012/2017.15053
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