Determinação de uma Unidade de Estimação de Atitude com Sensores Inerciais Modelados pela Variância de Allan (Determination of an Attitude Estimation Unit with Inertial Sensors Modeled by Allan Variance)

Mayara Mesiano Carrasco (, André Luís da Silva (

1Universidade Federal do ABC
2Universidade Federal de Santa Maria

This paper appears in: Revista IEEE América Latina

Publication Date: Aug. 2015
Volume: 13,   Issue: 8 
ISSN: 1548-0992

This article deal with the identification, by Allan variance, of the associated noises in signals from microelectromechanical (MEMS) inertial sensors accelerometer and gyroscope, whose data are used in attitude calculus of rigid bodies. An Arduino Uno microprocessor was used to collect sensor data while the software MATLAB was applied for post processing. The results were used for building error models to improve simulators and also to refine attitude estimation with Kalman filter.

Index Terms:
Inertial Navigation, Attitude Sensors, Attitude Determination, Allan Variance   

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