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Detecting and Extracting Vibration Disturbing in IMU Outside Calibration
LIU Gang;YANG Jie;WANG Li-xin;GAO Jiang;WANG Xiao-mei
2011, 31 (2):
80-83.
DOI: 10.3969/j.issn.1006-1355-2011.02.020
IMU (Inertial Measurement Unit) is often disturbed by the ground vibration when it is calibrated outside. This vibration disturbing will have great influence on the calibrating precision of the IMU. In this paper, the mathematical model for the vibration signal is established. Then, based on the difference of singularity of vibration signal and noise signal, the output signal of the IMU is analyzed by using wavelet modulus maximum method. Finally, the algorithm to restrain the noise disturbance and to extract the vibration signal is deduced. Simulation shows that this arithmetic has very good ability to detect the vibration disturbing.
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