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122551

Modeling Inertial Sensor Errors Using Allan Variance.

Article

Last updated: 22 Jan 2023

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Tags

Electrical Engineering

Abstract

Inertial navigation systems (INS) can provide high-accuracy position, velocity, and attitude information over short time periods. However, their accuracy rapidly degrades with time due to inertial sensor errors. To damp down the error growth, the INS sensor errors should be properly estimate and compensated before the inertial data are involved in the navigation computation. Therefore, appropriate modeling of the INS sensor errors is a necessity. Allan Variance (AV) is a simple and efficient method for modeling and verifying these errors by representing the root mean square (RMS) random drift error as a function of averaging time. Allan variance can provide information on the types and magnitude of the various error terms. This paper uses the AV technique to analyze and model different types of random errors residing in the measurements of Micro Electro Mechanical System (MEMS) based inertial sensors. The derived stochastic error model will be further included in the INS error model for intergrade navigation system, once the correctness of the model is verified. Finally , the paper presents the test results and model validation.

DOI

10.21608/bfemu.2020.122551

Keywords

Stochastic modeling, Allan variance (AV), Inertial sensor errors, INS, MEMS

Authors

First Name

A.

Last Name

Kraza

MiddleName

-

Affiliation

Aerospace Engineering Department., Faculty of Engineering., Cairo University., Cairo., Egypt.

Email

-

City

Cairo

Orcid

-

First Name

M.

Last Name

Bayoumi

MiddleName

-

Affiliation

Assistant Professor., Aerospace Engineering Department., Faculty of Engineering., Cairo University., Cairo., Egypt.

Email

-

City

Cairo

Orcid

-

First Name

G.

Last Name

El-Bayoumi

MiddleName

-

Affiliation

Professor of Aerospace Engineering., Faculty of Engineering., Cairo University., Cairo., Egypt.

Email

-

City

Cairo

Orcid

-

First Name

S.

Last Name

Hassan

MiddleName

-

Affiliation

Professor and Head of the navigation and Control Research Group., . Aerospace Engineering Department., Cairo University., Cairo., Egypt.

Email

-

City

Cairo

Orcid

-

Volume

36

Article Issue

1

Related Issue

17855

Issue Date

2011-03-01

Receive Date

2011-01-11

Publish Date

2020-11-10

Page Start

1

Page End

10

Print ISSN

1110-0923

Online ISSN

2735-4202

Article File

BFEMU_Volume 36_Issue 1_Pages 1-10.pdf

PDF . 218.6kB

Link

https://bfemu.journals.ekb.eg/article_122551.html

Detail API

https://bfemu.journals.ekb.eg/service?article_code=122551

Order

2

Type

Research Studies

Type Code

1,205

Publication Type

Journal

Publication Title

MEJ. Mansoura Engineering Journal

Publication Link

https://bfemu.journals.ekb.eg/

MainTitle

-

Details

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Article

Created At

22 Jan 2023