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2018 | OriginalPaper | Chapter

Statistical Models of Inertial Sensors and Integral Error Bounds

Authors : Richard J. Vaccaro, Ahmed S. Zaki

Published in: Advanced Research in Naval Engineering

Publisher: Springer International Publishing

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Abstract

Inertial sensors such as gyroscopes and accelerometers are important components of inertial measurement units (IMUs). Sensor output signals are corrupted by additive noise plus a random drift component. This drift component, also called bias, is modeled using different types of random processes. This chapter considers the random components that are useful for modeling modern tactical-graded MEMS sensors. These components contribute to errors in the first and second integrals of the sensor output. The main contribution of this chapter is the derivation of a statistical bound on the magnitude of the error in the integral of a sensor signal due to noise and drift. This bound is a simple function of the Allan variance of a sensor.

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Appendix
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Literature
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S. Guerrier, J. Skaloud, Y. Stebler, M. Victoria-Feser, Wavelet-variance-based estimation for composite stochastic processes. J. Am. Stat. Assoc. 108(503), 1021–1030 (2013)MathSciNetCrossRef
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Metadata
Title
Statistical Models of Inertial Sensors and Integral Error Bounds
Authors
Richard J. Vaccaro
Ahmed S. Zaki
Copyright Year
2018
Book
Advanced Research in Naval Engineering

Print ISBN: 978-3-319-95116-4

Electronic ISBN: 978-3-319-95117-1

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-95117-1_9

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