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research article

Wavelet-Based Moment-Matching Techniques for Inertial Sensor Calibration

Guerrier, Stéphane
•
Jurando, Juan
•
Khaghani, Mehran
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April 8, 2020
IEEE Transactions on Instrumentation and Measurement

The task of inertial sensor calibration has required the development of various techniques to take into account the sources of measurement error coming from such devices. The calibration of the stochastic errors of these sensors has been the focus of increasing amount of research in which the method of reference has been the so-called “Allan variance slope method” which, in addition to not having appropriate statistical properties, requires a subjective input which makes it prone to mistakes. To overcome this, recent research has started proposing “automatic” approaches where the parameters of the probabilistic models underlying the error signals are estimated by matching functions of the Allan variance or Wavelet Variance with their modelimplied counterparts. However, given the increased use of such techniques, there has been no study or clear direction for practitioners on which approach is optimal for the purpose of sensor calibration. This paper, for the first time, formally defines the class of estimators based on this technique and puts forward theoretical and applied results that, comparing with estimators in this class, suggest the use of the Generalized Method of Wavelet Moments (GMWM) as an optimal choice. In addition to analytical proofs, experiment-driven Monte Carlo simulations demonstrated the superior performance of this estimator. Further analysis of error signal from a gyroscope was also provided to further motivate performing such analyses, as real-world observed error signals may show significant deviation from manufacturer-provided error models.

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Type
research article
DOI
10.1109/TIM.2020.2984820
Author(s)
Guerrier, Stéphane
•
Jurando, Juan
•
Khaghani, Mehran
•
Bakali, Gaetan
•
Karemera, Mucyo
•
Molinari, Roberto
•
Orso, Samuel
•
Raquet, John
•
Schubert, Christine
•
Skaloud, Jan  
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Date Issued

2020-04-08

Published in
IEEE Transactions on Instrumentation and Measurement
Volume

69

Issue

10

Start page

7542

End page

7551

Subjects

Allan Variance

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Wavelet Variance

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Inertial Measurement Unit

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Generalized Method of Wavelet Moments

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Stochastic Error

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Slope Method

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Autonomous Regression Method for Allan Variance

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topotraj

Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
TOPO  
Available on Infoscience
August 11, 2020
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/170779
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