Parametric and State Estimation of Stationary Inertial Sensors

Abstract

The field of multiple inertial sensors is rapidly expanding, with applications ranging from wearable sensors to autonomous vehicles. In this tutorial, we offer an analytical tutorial on the basic operation of multiple inertial sensors, presenting a fresh perspective on their error relationship to time, and number of sensors. To that end, a stationary and leveled sensors array is taken, and its robustness against instrumental errors is analyzed. Subsequently, the hypothesized analytical model is compared with experimental results, and the degree of agreement between them is thoroughly discussed. Ultimately, our findings showcase the vast potential of employing multiple sensors, with observed improvements spanning from the signal level to the navigation states. This tutorial is suitable for both newcomers and individuals experienced with multiple inertial sensors.

Keywords

• Inertial navigation
• multiple IMUs
• calibration
• noise suppression
• coarse alignment