A Multi-frequency Filtering Procedure for Inertial Navigation

Mattia De Agostino

Abstract:	This paper present a wavelet-based procedure for the filtering of IMU data both during the alignment and the navigation that automatically changes the cut-off parameter of the multi-resolution analysis. During the alignment procedure a ""hard"" filtering can in fact be used to evaluate the initial attitude angles, with a cut-off frequency close to 0.5 Hz, whereas a ""soft"" filtering during the navigation can be used to preserve the information on the accelerations and angular velocity measurements of the sensors, by setting a more elevated cut-off frequency. The proposed de-noising method was applied to a low-cost tactical grade Inertial Measurement Units (Crossbow IMU 700-CA and IMU 400-CC) and an improvement in the signal-to-noise ratio and consequently in the evaluation of the navigation parameters was obtained.
Published in:	Proceedings of IEEE/ION PLANS 2008 May 6 - 8, 2008 Hyatt Regency Hotel Monterey, CA
Pages:	1115 - 1121
Cite this article:	De Agostino, Mattia, "A Multi-frequency Filtering Procedure for Inertial Navigation," Proceedings of IEEE/ION PLANS 2008, Monterey, CA, May 2008, pp. 1115-1121. https://doi.org/10.1109/PLANS.2008.4569998
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In