Automatic IMU sensor characterization using Allan variance plots

We present an automatic method for the evaluation of the noise parameters of IMU devices. The method is a the two-stage optimization problem for polyline regression of the Allan variance in log-log domain. We address the initialization issue and segmentation to identify the existing noises which results in the robustness of the results obtained with the numerical solver.We present an automatic method for the evaluation of the noise parameters of IMU devices. The method is a the two-stage optimization problem for polyline regression of the Allan variance in log-log domain. We address the initialization issue and segmentation to identify the existing noises which results in the robustness of the results obtained with the numerical solver.