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Proceedings Paper

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

Paper Details

Date Published: 22 July 2016
PDF: 10 pages
Proc. SPIE 9912, Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation II, 99126W (22 July 2016); doi: 10.1117/12.2234255
Show Author Affiliations
Nirmal K., Indian Institute of Astrophysics (India)
Sreejith A. G., Indian Institute of Astrophysics (India)
Joice Mathew, Indian Institute of Astrophysics (India)
Mayuresh Sarpotdar, Indian Institute of Astrophysics (India)
Ambily Suresh, Indian Institute of Astrophysics (India)
Ajin Prakash, Indian Institute of Astrophysics (India)
Margarita Safonova, Indian Institute of Astrophysics (India)
Jayant Murthy, Indian Institute of Astrophysics (India)


Published in SPIE Proceedings Vol. 9912:
Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation II
Ramón Navarro; James H. Burge, Editor(s)

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