IMU Allan Variance

REFERENCES

• gaowenliang/imu_utils
• rpng/kalibr_allan
• N. El-Sheimy, H. Hou and X. Niu, "Analysis and Modeling of Inertial Sensors Using Allan Variance" . in IEEE Transactions on Instrumentation and Measurement, vol. 57, no. 1, pp. 140-149, Jan. 2008, doi: 10.1109/TIM.2007.908635.

The code of this project is mainly based on this repository and this repository, thanks to the work of gaowenliang, mintar et al.

IMU Noise Values

Parameter	YAML element	Symbol	Units
Gyroscope "white noise"	gyr_n
Accelerometer "white noise"	acc_n
Gyroscope "bias Instability"	gyr_w
Accelerometer "bias Instability"	acc_w

• White noise is at tau=1;

• Bias Instability is around the minimum;

(according to technical report: Allan Variance: Noise Analysis for Gyroscopes)

Requirements

1. Eigen3
2. Ceres
3. matplotlib

Usage

1. 编译

mkdir build
cd build
cmake ..
make -j4

2. 准备 采样的数据

put your imu sampled data file "imu_reading.txt" at dir ./data/

3. run allan_variance analysis

cd build
./imu_allan_variance

4. result

在data文件夹下面可以看到数据:

• data_IMUxxxx_acc_t.txt: acc时间戳
• data_IMUxxxx_acc_x.txt: acc采样x轴
• data_IMUxxxx_acc_y.txt: acc采样y轴
• ...
• data_IMUxxxx_fitting_acc_t.txt: acc拟合时间戳
• data_IMUxxxx_fitting_acc_y.txt: acc拟合y轴曲线
• ...
• IMUxxxx_imu_param.txt: IMU噪声分析解结果

5. 绘制曲线

cd ./scripts
python3 ./draw_allan.py