Noise modeling and analysis of an IMU-based attitude sensor: improvement of performance by filtering and sensor fusion

Nirmal K.; Sreejith A. G.; Joice Mathew; Mayuresh Sarpotdar; Ambily Suresh; Ajin Prakash; Margarita Safonova; Jayant Murthy

doi:10.1117/12.2234255

22 July 2016 Noise modeling and analysis of an IMU-based attitude sensor: improvement of performance by filtering and sensor fusion

Nirmal K., Sreejith A. G., Joice Mathew, Mayuresh Sarpotdar, Ambily Suresh, Ajin Prakash, Margarita Safonova, Jayant Murthy

Author Affiliations +

Proceedings Volume 9912, Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation II; 99126W (2016) https://doi.org/10.1117/12.2234255
Event: SPIE Astronomical Telescopes + Instrumentation, 2016, Edinburgh, United Kingdom

Abstract

We describe the characterization and removal of noises present in the Inertial Measurement Unit (IMU) MPU- 6050, which was initially used in an attitude sensor, and later used in the development of a pointing system for small balloon-borne astronomical payloads. We found that the performance of the IMU degraded with time because of the accumulation of different errors. Using Allan variance analysis method, we identified the different components of noise present in the IMU, and verified the results by the power spectral density analysis (PSD). We tried to remove the high-frequency noise using smooth filters such as moving average filter and then Savitzky Golay (SG) filter. Even though we managed to filter some high-frequency noise, these filters performance wasn't satisfactory for our application. We found the distribution of the random noise present in IMU using probability density analysis and identified that the noise in our IMU was white Gaussian in nature. Hence, we used a Kalman filter to remove the noise and which gave us good performance real time.

Citation Download Citation

Nirmal K., Sreejith A. G., Joice Mathew, Mayuresh Sarpotdar, Ambily Suresh, Ajin Prakash, Margarita Safonova, and Jayant Murthy "Noise modeling and analysis of an IMU-based attitude sensor: improvement of performance by filtering and sensor fusion", Proc. SPIE 9912, Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation II, 99126W (22 July 2016); https://doi.org/10.1117/12.2234255

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available