In this paper, A random modeling has been performed for
gyroscopes' components noise in unit measurements inertial
Crossbow IMU400CD MEMS by Alan Variance. Three random
components were discriminated in the noise sensors in addition to
the estimat
ed coefficients of these components, while the technical
bulletin did not mention but one component. Knowing the random
noise type gives the ability to use it as an output component of the
navigational system; estimating it with the navigation support
means such as GPS or magnetic compass or ... etc. enables to
correct gyroscopes out.
Inertial sensors Gyroscopes are gaining nowadays more and
more research interest in a variety of transport fields (i. e. land, sea
and air). Recent efforts are going towards developing those
traditional electromechanical models to electronic manufacturer
microenvironment technology called Micro Electro Mechanical
System (MEMS).
But in return MEMS gyroscopes suffer precision low when
compared to other types as a result of errors, many appear on the
output of particular random errors that can't be deleted
methodologies calibration known, so it is classified as a type of
noise or random processes where they are modeled using random
modeling techniques stochastic Modeling to identify and
distinguish types of noise in the sensor output. Among the most
famous of these techniques mode Allan Variance (AV).
This article reviews the structure of an integrated navigation system made up of unit inertial sensors manufactured by MEMS technology, a GPS Receiver unit, magnetic compasses manufactured by MEMS technology, and a high barometric sensor. The integra
ted system is built using an Extended Kalman Filter (EKF). This reviewing is performed with the use of a closed-loop system that has simple integration namely the Loosely Coupling Integration.
After conducting several air tests to collect real navigational data, antipersonnel navigational data has been used to do the integrated navigation system analysis with EKF environment in the software Matlab.
It has been noticed after the analysis that the complementary horizontal navigation system error does not exceed 50 m. With deliberate withholding of GPS data for different periods in order to test the performance of the integrated navigation system in case of withholding the GPS signal, we have found that the integrated navigation system achieves good accuracy, where the horizontal error does not exceed 200 m value when the withholding GPS data for 120 seconds. This can be considered as small and acceptable values compared with the horizontal error value for inertial navigation unit stim300 when operating independently of up to 8200 m.
