Identification of inertial sensor error parameters

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2015

Öğrenci: BAĞIŞ ALTINÖZ

Danışman: MEHMET KEMAL LEBLEBİCİOĞLU

Özet:

Inertial sensors (gyroscopes and accelerometers) that are used in navigation systems have distinct error characteristics such as bias, scale factor, random walk, etc. Calibration and characterization tests are done with 2 or 3 axes rate tables in order to identify these errors. It is possible to utilize error characteristics of these devices, and the navigation accuracy is directly dependent on the accuracy of this identification process. In this thesis, inertial sensor error parameters are identified by a membership function based method which also uses Allan deviation parameters. Additionally, traditional line method is used to identify random error parameters. Different types of sensors are modeled according to the identified parameters and Allan deviation curves of simulated and real data are compared. Error identification techniques are used to decrease errors in fiber optic gyroscope.