Characterization of Various IMU Error Sources and the Effect on Navigation Performance

Warren S. Flenniken IV, John H. Wall and David M. Bevly

Abstract:	This paper introduces a simple model for modeling inertial sensors and expands on this model to incorporate terms that model the errors associated with high dynamics. The paper uses the techniques of Allan Variance Charts, Monte Carlo Simulations, and Autocorrelation functions to characterize sensors through identification of the error statistics. The error growth of the position and heading navigation solution for two and six degree of freedom scenarios using static error parameters is developed. Analytical expressions for the error growth with wide-band noise are presented and used as an error baseline for investigating the effects of sensor drift, or walking bias. Experimental data is used to validate the error growth bounds in both scenarios. An advanced sensor model is developed for both an accelerometer and gyro with an explanation of the effects of the dynamic error parameters. A simple rocket trajectory simulation is used to illustrate the adverse effects of high dynamic sensor errors when dead-reckoning with a tactile-grade IMU. Analysis of the advanced model is concluded with an investigation into the relative effect of each error parameter on the trajectory target.
Published in:	Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005) September 13 - 16, 2005 Long Beach Convention Center Long Beach, CA
Pages:	967 - 978
Cite this article:	Flenniken, Warren S., IV, Wall, John H., Bevly, David M., "Characterization of Various IMU Error Sources and the Effect on Navigation Performance," Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005), Long Beach, CA, September 2005, pp. 967-978.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In