Inertial Sensors Errors Modeling Using Allan Variance

In this paper, the Allan variance technique will be used in noise analysis of MEMS-based inertial sensors, including BEI GyroChipTM II, BEI GyroChipTM Horizon, Silicon Design Inc. Model 2412 Triaxial Accelerometer, and two Inertial Measurement Systems (IMU), BEI MotionPak II-3g and Crossbow AHRS400CC-100. Test results clearly show the Allan variance technique is very effective in inertial sensors performance analysis. In addition, Modified Allan variance is also introduced and performed for inertial sensor noise analysis.