Spectral analysis and de-noising of MIMU raw measurement
Jian Ma · Optics and Precision Engineering · 2007
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.