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dc.contributor.authorÜnsal, Derya
dc.contributor.authorDoğan, Mustafa
dc.date.accessioned2015-09-30T13:58:08Z
dc.date.available2015-09-30T13:58:08Z
dc.date.issued2014-05-05
dc.identifier.citationÜnsal, D., & Doğan, M. (2014). Implementation of identification system for IMUs based on Kalman filtering. In 2014 IEEE/ION Position Location and Navigation Symposium (PLANS 2014) (pp. 236-240). Piscataway, NJ: IEEE. http://dx.doi.org/10.1109/PLANS.2014.6851381en_US
dc.identifier.isbn9781479933198
dc.identifier.other14447589 (INSPEC)
dc.identifier.urihttp://dx.doi.org/10.1109/PLANS.2014.6851381
dc.identifier.urihttp://hdl.handle.net/11376/2113
dc.descriptionDoğan, Mustafa (Dogus Author) -- Conference full title: 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014; Monterey, CA; United States; 5 May 2014 through 8 May 2014en_US
dc.description.abstractModeling and simulation studies are used to measure the desired performance prior to the hardware implementation of inertial navigation systems. Inertial measurement units are the main components of the inertial navigation systems. Therefore, IMUs should be modeled within the scope of modeling and simulation studies of inertial navigation systems. Several time and frequency domain analysis are implemented in these simulation studies. In addition to deterministic and stochastic error parameters, frequency and delay characteristics of the sensors required for inertial sensor identification. Hence, transfer functions of accelerometer and gyroscope channels are required. Generally, transfer functions of COTS IMUs, accelerometers and gyroscopes are not provided to end-users. Therefore, identification of sensor transfer functions becomes a problem. In order to identify sensor transfer function several methods have been examined. This study explains the how the transfer functions of inertial sensors are defined by using system identification with Kalman Filter. System identification deals with the problem of building mathematical models of dynamical systems based on observed data from the system. System identification consists of data record, generating of model set and determining of the best model steps and lots of several methods can be used in these steps. In the scope of this study Kalman Filter is used to generate candidate transfer function set in the generating of model set step of the system identification. Transfer function identification process will be completed by selecting the best model from the model set. Thereby, effects of frequency and delay characteristics on the system performance can be observed. An IMU can be modeled in frequency domain with transfer function by using the methodology which is explained in this study.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.isversionof10.1109/PLANS.2014.6851381en_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectAccelerometeren_US
dc.subjectGyroscopeen_US
dc.subjectIdentificationen_US
dc.subjectKalman Filteren_US
dc.subjectTransfer Functionen_US
dc.subjectAccelerometersen_US
dc.subjectComputer Simulationen_US
dc.subjectDynamical Systemsen_US
dc.subjectFrequency Domain Analysisen_US
dc.subjectHardwareen_US
dc.subjectIdentification (Control Systems)en_US
dc.subjectInertial Navigation Systemsen_US
dc.subjectMathematical Modelsen_US
dc.subjectStochastic Systemsen_US
dc.subjectUnits of Measurement Delay Characteristicsen_US
dc.subjectHardware Implementationsen_US
dc.subjectInertial Measurement Uniten_US
dc.subjectModel and Simulationen_US
dc.subjectSensor Transfer Functionsen_US
dc.subjectSimulation Studiesen_US
dc.subjectTime - and Frequency - Domain Analysisen_US
dc.subjectTransfer Function Identificationen_US
dc.subjectTransfer Functionsen_US
dc.titleImplementation of identification system for IMUs based on Kalman filteringen_US
dc.typeconferenceObjecten_US
dc.relation.journal2014 IEEE/ION Position Location and Navigation Symposium (PLANS 2014)en_US
dc.contributor.departmentDoğuş Üniversitesi, Mühendislik Fakültesi, Kontrol ve Otomasyon Mühendisliği Bölümüen_US
dc.contributor.authorIDTR35279en_US
dc.identifier.startpage236en_US
dc.identifier.endpage240en_US


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