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25 April 2022 Denoising acceleration by jerk constraint in IMU sensor
Meilan Huang, Yunyi Liu
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Proceedings Volume 12244, 2nd International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2022); 1224425 (2022) https://doi.org/10.1117/12.2635120
Event: 2nd International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2022), 2022, Guilin, China
Abstract
Typically, the inertial measurement unit data fusion of accelerometer and gyroscope sensor data requires integrals of the angular velocity, which inevitably leads to error accumulation. In this paper, a new measurement model to extract the jerk of a system based on the current noisy acceleration and angular velocity is proposed. Because this method uses the current angular velocity directly, it can effectively avoid the error accumulation in the integration process. Then, under the constraint of the obtained jerk, a new denoising algorithm to recover the acceleration of the accelerometer is proposed. Experimental results show that the jerk extraction method has good ability to resist noise interference, and the proposed denoising algorithm can obtain the acceleration accurately and restrain the accumulated error.
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Meilan Huang and Yunyi Liu "Denoising acceleration by jerk constraint in IMU sensor", Proc. SPIE 12244, 2nd International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2022), 1224425 (25 April 2022); https://doi.org/10.1117/12.2635120
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KEYWORDS
Denoising
Sensors
Motion models
Gyroscopes
Evolutionary algorithms
Filtering (signal processing)
Detection and tracking algorithms
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