Determining Stochastic Parameters Using an Unified Method

The estimation accuracy is mostly affected by the time-dependent growth of inertial sensor errors, especially the stochastic errors. In order to eliminate negative effect of these random errors, they must be accurately modelled. Usually the stochastic models are based by the 1 or 2 Gauss-Markov models, where the key is the successful implementation that depends on how well the noise statistics of the inertial sensors is selected [9]. In order to improve the performance of the inertial sensors, the users are keen to know more details about the noise components for a better modelling of the stochastic part to improve the navigation solution [6], [7]. The main objective of this paper is to test the Allan variance as a unified method in identifying and modelling noise terms of inertial measurement unit sensors.