Please use this identifier to cite or link to this item: http://hdl.handle.net/2248/7040
Title: Noise modeling and analysis of an IMU-based attitude sensor: improvement of performance by filtering and sensor fusion
Authors: Nirmal, K
Sreejith, A. G
Mathew, J
Mayuresh, Sarpotdar
Ambily, S
Prakash, A
Safonova, M
Murthy, J
Keywords: Balloon experiment;Attitude sensor;Pointing system;MEMS sensors
Issue Date: Jul-2016
Publisher: SPIE-The International Society for Optical Engineering
Citation: Proceedings of the SPIE, Vol. 9912, pp. 99126W-1 - 99126W-10
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. © (2016) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Description: Restricted Access
URI: http://hdl.handle.net/2248/7040
ISSN: 0277-786X
???metadata.dc.rights???: © SPIE--The International Society for Optical Engineering
???metadata.dc.relation.uri???: http://dx.doi.org/10.1117/12.2234255
Appears in Collections:IIAP Publications

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