Caracterização de Sensores MEMS Através da Variância de Allan para a Filtragem de Ruídos Estocásticos

Rafael G. F. Silva; Marcelo H. Jeronymo; Havena L. Pavan; Marcelo C. Tosin

doi:10.20906/CBA2022/3750

Rafael G. F. Silva Departamento de Engenharia Elétrica, Universidade Estadual de Londrina, PR
Marcelo H. Jeronymo Departamento de Engenharia Elétrica, Universidade Estadual de Londrina, PR
Havena L. Pavan Departamento de Engenharia de Ciência dos Materiais, Universidade Tecnológica Federal do Paraná, PR
Marcelo C. Tosin Departamento de Engenharia Elétrica, Universidade Estadual de Londrina, PR

DOI: https://doi.org/10.20906/CBA2022/3750

Keywords: MEMS Girometers, Gyroscopes, Inertial Navigation System, Inertial Measurement Unit, Stochastic Noises, Allan Variance, Allan Deviation, Earth Rotation Measurement, Kalman Filter

Abstract

This work proposes the Allan Variance application to characterize the stochastic noises included in MEMS sensors signal to remove them through a dynamic filter. As an application, we use the SIRRS01-03 gyrometer to measure the Earth’s angular velocity. The Kalman filter implementation improved the performance of the characterized sensor, both in measurement accuracy and in the time required to converge to the value of the Earth’s angular velocity. The results indicate that it is possible to use this sensor in an inertial measurement unit to perform a self-alignment and a self-calibration procedure, which are essential in an inertial navigation system.