Development of Stochastic IMU Error Models for INS/GNSS Integration

Elisa Gallon, Mathieu Joerger, Boris Pervan

Abstract: In this paper, we develop, implement, and test a new high-integrity frequency-domain measurement error modeling method for inertial measurement units (IMU). The IMU error modeling method is intended for safety-critical navigation applications. The method uses both the Allan Variance to identify individual IMU error components and the Power Spectral Density (PSD) to derive a bounding error time-correlation model. By upper-bounding the sample PSD of individual IMU error components, we can guarantee a bound on the state estimation error variance. The method is applied using experimental data from a tactical grade IMU.
Published in: Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021)
September 20 - 24, 2021
Union Station Hotel
St. Louis, Missouri
Pages: 2565 - 2577
Cite this article: Gallon, Elisa, Joerger, Mathieu, Pervan, Boris, "Development of Stochastic IMU Error Models for INS/GNSS Integration," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 2565-2577.
https://doi.org/10.33012/2021.17962
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