Spectral analysis and de-noising of MIMU raw measurement

MA Jian-Jun; ZHENG Zhi-Qiang; WU Mei-ping

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Spectral analysis and de-noising of MIMU raw measurement

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- Spectral analysis and de-noising of MIMU raw measurement
- Optics and Precision Engineering Vol. 15, Issue 2, Pages: 261-266(2007)
- 作者机构：
  
  国防科技大学机电工程与自动化学院,湖南长沙,410073
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP391;V241.62
- Received：22 August 2006，
  
  Revised：08 October 2006，
  
  Published Online：20 February 2007，
  
  Published：20 February 2007
- 稿件说明：
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MA Jian-Jun, ZHENG Zhi-Qiang, WU Mei-ping. Spectral analysis and de-noising of MIMU raw measurement[J]. Optics and precision engineering, 2007, 15(2): 261-266.
DOI：

MA Jian-Jun, ZHENG Zhi-Qiang, WU Mei-ping. Spectral analysis and de-noising of MIMU raw measurement[J]. Optics and precision engineering, 2007, 15(2): 261-266. DOI：

摘要

根据误差信号的频谱特性将MIMU(Micro Inertial Measurement Unit)误差信号分为长期误差和短期误差两类

分析了两类误差的来源和传统组合导航系统的降噪性能。利用Allan方差法对MIMU长期误差进行分析建模;针对短期误差的频谱特性

使用最优低通滤波器滤除高于运动特性频带上限的部分;通过小波阈值降噪方法减小混叠在运动特性频带中的短期误差。GPS/MIMU组合导航仿真结果表明

经过MIMU信号预处理的组合系统

在GPS信号有效时定位误差减小了20%

而当GPS信号丢失时

累积误差降低了近80%。

Abstract

On the time-frequency view

the errors of MIMU signal were classified into long-term errors and short-term errors according to their spectral signature

and the error resources and performance of de-noising in GPS/MIMU integrated system were analyzed. Allan variance method was used to model and compersate the long-term errors

and the short-term errors whose frequency higher than the up band of motion dynamic was eliminated by optimal low-pass filter

the wavelet threshold filter was used to reduce the remained short-term errors. Simulation results show that the performance of integrated GPS/MIMU system has been improved by 20% when GPS is available and 80% while GPS blockages after pre-processing for MIMU signal.

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references

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