Automatic and computationally efficient method for model selection in inertial sensor calibration

Roberto Molinari, James Balamuta, Stéphane Guerrier, Xinyu Zhang, Jan Skaloud

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The identification and selection of a small set of models that are able to well describe and predict the error signals coming from inertial sensors is of utmost importance to improve the navigation precision of these devices. For this reason, in this paper we describe the implementation of the WVIC model selection criterion by improving the computational efficiency of its associated algorithm. This criterion is based on the Generalized Method of Wavelet Moments that was recently proposed to estimate the parameters of inertial sensor error models. Using this approach, the model selection procedure is included within an algorithm that allows it to be executed more efficiently and is implemented within a new package in the opensource statistical platform R. The efficient implementation of this model selection procedure enables engineers and researchers to rapidly identify a restricted set of models for inertial sensor calibration.

Original languageEnglish (US)
Title of host publication28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015
PublisherInstitute of Navigation
Pages2003-2006
Number of pages4
ISBN (Electronic)9781510817258
StatePublished - Jan 1 2015
Event28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015 - Tampa, United States
Duration: Sep 14 2015Sep 18 2015

Publication series

Name28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015
Volume3

Other

Other28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015
CountryUnited States
CityTampa
Period9/14/159/18/15

Keywords

  • Allan variance
  • Error analysis
  • Generalized Method of Wavelet Moments
  • Model selection
  • Wavelet variance

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Software

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  • Cite this

    Molinari, R., Balamuta, J., Guerrier, S., Zhang, X., & Skaloud, J. (2015). Automatic and computationally efficient method for model selection in inertial sensor calibration. In 28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015 (pp. 2003-2006). (28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015; Vol. 3). Institute of Navigation.