Optimal Weighted Least Square Data Fusion Method for Redundant IMU Based on Calculation of Measurement Error

Chuan Xing; Hai Zhang

doi:10.4028/www.scientific.net/AMM.241-244.149

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 241-244Optimal Weighted Least Square Data Fusion Method...

Optimal Weighted Least Square Data Fusion Method for Redundant IMU Based on Calculation of Measurement Error

Abstract:

A dodecahedron non-orthogonal redundant IMU configuration was selected as model. To improve fusion accuracy, we proposed an effective calculation method for measurement errors based on the correlation between measurement errors and fusion errors. The method considered the difference between traditional data fusion vector’s projection and measurement results, and then made a conversion from projection error to measurement error. Combined with optimal weighted least square method, measurement error was used to generate an optimal weighted matrix, and this made data fusion errors minimum. Simulations also proved that the fusion result of this method is more accurate than the result of traditional method.

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Periodical:

Applied Mechanics and Materials (Volumes 241-244)

Pages:

149-155

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.241-244.149

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Online since:

December 2012

Authors:

Chuan Xing, Hai Zhang

Keywords:

Data Fusion, Optimal Estimation, Redundant IMU, Weighted Least Square Method

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