IMU error analysis based on a simplified allan variance method

ZHAO Si-hao; LU Ming-quan; FENG Zhen-ming

doi:10.13873/j.1000-97872010.12.013

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IMU error analysis based on a simplified allan variance method

更新时间：2025-09-11

- IMU error analysis based on a simplified allan variance method
- Vol. 29, Issue 12, Pages: 12-14+18(2010)
- 作者机构：
  
  清华大学电子工程系
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872010.12.013
  CLC： TN966
- Published：2010
- 稿件说明：
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[1]赵思浩,陆明泉,冯振明.基于一种简化Allan方差法的IMU误差分析[J].传感器与微系统,2010,29(12):12-14+18.

ZHAO Si-hao, LU Ming-quan, FENG Zhen-ming. IMU error analysis based on a simplified allan variance method[J]. 2010, 29(12): 12-14+18.
[1]赵思浩,陆明泉,冯振明.基于一种简化Allan方差法的IMU误差分析[J].传感器与微系统,2010,29(12):12-14+18. DOI： 10.13873/j.1000-97872010.12.013.

ZHAO Si-hao, LU Ming-quan, FENG Zhen-ming. IMU error analysis based on a simplified allan variance method[J]. 2010, 29(12): 12-14+18. DOI： 10.13873/j.1000-97872010.12.013.

摘要

为了分析惯性测量单元（IMU）的随机误差项系数

采用了Allan方差分析方法

同时

针对大数据量情况

为了减小计算量并保持Allan方差分析的准确性

结合双对数曲线特点

给出了一种简化的Allan方差算法

并使用该算法对一种微机械（MEMS）惯性测量单元的长时间静态数据进行了分析。结果表明:该方法可以有效地辨识出IMU各误差项系数。

Abstract

For analyzing the random error coefficients of inertial measurement units（IMU）

the Allan variance method is studied.For large data set processing

a simplified Allan variance algorithm which can both reduce the calculation burden and keep the accuracy of the results is proposed.The proposed algorithm is used to analyze the long-term static data collected from a micro-electro-mechanical systems（MEMS）IMU.Results demonstrate that the proposed simplified Allan variance method can effectively recognize the error coefficients of the IMU.

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