Project

Filtering of IMU data using Kalman filter

Inertial Measurement Unit (IMU) is a component of the Inertial Navigation System (INS), a navigation device used to calculate the position, velocity and orientation of a moving object without external references. This project develops a method for removing the bias from the accelerometer measurement and estimate the distance travelled and the velocity of a moving object. Estimation is done using the predict and update stages of the Kalman filter, a recursive filter that uses state space techniques. Simulation of the distance and velocity estimation is performed. Multiple accelerometer data with different sampling frequencies are used for analyzing the bias factors.

Project (M.S., Electrical and Electronic Engineering)--California State University, Sacramento, 2016.

Inertial Measurement Unit (IMU) is a component of the Inertial Navigation System (INS), a navigation device used to calculate the position, velocity and orientation of a moving object without external references. This project develops a method for removing the bias from the accelerometer measurement and estimate the distance travelled and the velocity of a moving object. Estimation is done using the predict and update stages of the Kalman filter, a recursive filter that uses state space techniques. Simulation of the distance and velocity estimation is performed. Multiple accelerometer data with different sampling frequencies are used for analyzing the bias factors.

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