Use of Allan variance for practical determination of noise structure of inertial measurement units

The assessment procedure of noise components in the measurement data of inertial sensors according to the Allan variance method has been developed. Herewith the calculation of the Allan variance was made on the basis of the given confidence level. The procedure is based on multiparametric optimization technique suggested by the authors of nonlinear objective function and proved in terms of accelerometric and angle-measuring information of the strapdown inertial unit sample. The comparative analysis between obtained values of the noise components and corresponding estimates derived from the conventionally used least-squares method, as well as characteristics claimed by designer, was carried out.