On-Line Estimation of Allan Variance Parameters

A new on-line method is presented for estimation of the angular random walk and rate random walk coefficients of IMU (Inertial Measurement Unit) gyros and accelerometers. The on-line method proposes a state space model and proposes parameter estimators for quantities previously measured from off-line data techniques such as the Allan variance graph. Allan variance graphs have large off-line computational effort and data storage requirements. The technique proposed here requires no data storage and computational effort of 0(100) calculations per data sample. j999030 8 16