Module imu mod SGNDN_v 0.1

Overview

This module operates a IMU signal noise reduction algorithm. This module allows to reduce signal noise without having to reduce signal sampling frequency.

Module nomenclature

The module waits two physical streams that stores IMU sensor gyroscopic velocities and translational accelerations that have to be denoised. This image gives an overview of the module nomenclature :

After noise reduction, the module generates two physical streams that store the denoised gyroscopic and acceleration signals. The output signals are provided with the same sampling rate and length.

Module interface

This section gives a summary of the module interface in terms of streams and devices. The order of devices and streams is given as waited by the module. The devices interface is given by :

device( Physical ) IMU sensor

The stream input interface is :

stream( Physical | IMU ) Gyroscopic velocities
stream( Physical | IMU ) Translational accelerations

and the stream output interface is :

stream( Physical | IMU ) Noise reduced gyroscopic velocities
stream( Physical | IMU ) Noise reduced translational accelerations

The two input streams are attached as well as the two output streams.

Module operation

Currently, the implemented noise reduction algorithm is the total variation with iterative clipping algorithm. Each stream component is treated separately by the module.