| Issue |
MATEC Web Conf.
Volume 75, 2016
2016 International Conference on Measurement Instrumentation and Electronics (ICMIE 2016)
|
|
|---|---|---|
| Article Number | 05001 | |
| Number of page(s) | 6 | |
| Section | Theory of Measurement Error | |
| DOI | https://doi.org/10.1051/matecconf/20167505001 | |
| Published online | 01 September 2016 | |
An Increase in Estimation Accuracy Position Determination of Inertial Measurement Units
Department of Electrical Engineering, Faculty of Electrical Engineering and Informatics, University of Pardubice, Pardubice, Czech Republic
a Corresponding author: ladislav.beran@student.upce.cz
This paper deals with an increase in measurement accuracy of the Inertial Measurement Units (IMU). In the Inertial Navigation Systems (INS) a fusion of gyroscopes, accelerometers and in some cases magnetometers are typically used. The typical problem of cheap IMU is non-stationary offset and high level of noise. The next problem of IMU is a problem with a bumpy floor. For this case it is necessary to a have high quality chassis to eliminate additional noise. Also, it is possible to eliminate this noise by using some algorithm, but results are still poor. These properties lead to the inaccurate position estimation in the integration process. Even a small offset error leads to a big mistake in position determination and grows quickly with a time. This research is focused on the elimination of these poor properties and increase of accuracy of position estimation using Kalman Filtration.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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