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论文类型：期刊论文

发表时间：2013-01-01

发表刊物：INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL

收录刊物：SCIE、EI、Scopus

卷号：40

期号：2

页面范围：111-120

ISSN号：0143-991X

关键字：Stability (control theory); Noise; Allan variance; Micro-electro-mechanical systems; Inertial measurement unit; MEMS IMU; Noise coefficient; Gyroscope

摘要：Purpose - The purpose of this paper is to reduce the calculation burden and speed up the estimation process of Allan variance method while ensuring the exactness of the analysis results.
   Design/methodology/approach - A series of six-hour static tests have been implemented at room temperature, and the static measurements have been collected from MEMS IMU. In order to characterize the various types of random noise terms for the IMU, the basic definition and main procedure of the Allan variance method are investigated. Unlike the normal Allan variance method, which has the shortcomings of processing large data sets and requiring long computation time, a modified Allan variance method is proposed based on the features of data distribution in the log-log plot of the Allan standard deviation versus the averaging time.
   Findings - Experiment results demonstrate that the modified Allan variance method can effectively estimate the noise coefficients for MEMS IMU, with controllable computation time and acceptable estimation accuracy.
   Originality/value - This paper proposes a time-controllable Allan variance method which can quickly and accurately identify different noise terms imposed by the stochastic fluctuations.