Identification of inertial sensor error parameters

Altınöz, Bağış
Inertial sensors (gyroscopes and accelerometers) that are used in navigation systems have distinct error characteristics such as bias, scale factor, random walk, etc. Calibration and characterization tests are done with 2 or 3 axes rate tables in order to identify these errors. It is possible to utilize error characteristics of these devices, and the navigation accuracy is directly dependent on the accuracy of this identification process. In this thesis, inertial sensor error parameters are identified by a membership function based method which also uses Allan deviation parameters. Additionally, traditional line method is used to identify random error parameters. Different types of sensors are modeled according to the identified parameters and Allan deviation curves of simulated and real data are compared. Error identification techniques are used to decrease errors in fiber optic gyroscope.


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Ünver, Alper; Demirekler, Mübeccel; Department of Electrical and Electronics Engineering (2013)
Gyro and accelerometer systematic errors due to biases, scale factors, and misalignments can be compensated via an on-board Kalman filtering approach in a Navigation System. On the other hand, sensor random noise sources such as Quantization Noise (QN), Angular Random Walk (ARW), Flicker Noise (FN), and Rate Random Walk (RRW) are not easily estimated by an on-board filter, due to their random characteristics. In this thesis a new method based on the variance of difference sequences is proposed to compute th...
A comparative study on tightly coupled visual aided inertial navigation systems for unmanned aerial vehicles
İnce, Talha; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2018)
An Inertial Navigation System (INS) is a combination of hardware (accelerometers and gyroscopes) and algorithms to calculate the position, orientation and velocity of a mobile platform. Because of the need to integrate the measurements over time, INS is subjected to cumulative error characteristics, hence cannot provide an accurate navigation solution over long durations. Global Positioning System (GPS) is often used for long time-long distance problems aiding INS. GPS relies on external signals received fr...
Effects of modulation type on blind SIMO commmunications systems
Karakutuk, Serkan; Tuncer, Temel Engin (2007-06-13)
In frame based communication systems, blind identification of frame length and offset from limited number of observations has an important affect on the performance of blind channel identification and equalization algorithms. In [1], for guard interval transmission schemes, a novel blind frame length and offset estimation method is proposed. In this paper, the performance of methods proposed in [1] for fixed frame length transmission are studied.
An adaptive unscented kalman filter for tightly-coupled INS/GPS integration
Akça, Tamer; Demirekler, Mübeccel; Department of Electrical and Electronics Engineering (2012)
In order to overcome the various disadvantages of standalone INS and GPS, these systems are integrated using nonlinear estimation techniques and benefits of the two complementary systems are obtained at the same time. The standard and most widely used estimation algorithm in the INS/GPS integrated systems is Extended Kalman Filter (EKF). Linearization step involved in the EKF algorithm can lead to second order errors in the mean and covariance of the state estimate. Another nonlinear estimator, Unscented Ka...
Analysis of Conformal Frequency Selective Surface Radome
Dalkilic, Akin; Alatan, Lale; Top, Can Baris (2014-04-11)
In this paper, the transmission characteristics of a conformal frequency selective surface (FSS) radome which is designed to operate in Ku-band is compared to its planar counterpart. The radome is designed to have narrow band-pass characteristics with a performance that is independent of the polarization and the angle of incidence of the incoming wave. The optimum dimension of the radome is optimized through the simulations of the infinite planar structure. Then, the performance of the conformal structure i...
Citation Formats
B. Altınöz, “Identification of inertial sensor error parameters,” M.S. - Master of Science, Middle East Technical University, 2015.