Inertial Sensor Signals Denoising with Wavelet Transform

In the current paper we propose a new software procedure for processing data from an inertial navigation system boarded on a moving vehicle, in order to achieve accurate navigation information on the displacement of the vehicle in terms of position, speed, acceleration and direction. We divided our research in three phases. In the first phase of our research, we implemented a realtime evaluation criterion with the intention of achieving real-time data from an accelerometer. It is well-known that most errors in the detection of position, velocity and attitude in inertial navigation occur due to difficult numerical integration of noise. In the second phase, we were interested in achieving a better estimation and compensation of the gyro sensor angular speed measurements. The errors of these sensors occur because of their miniaturization, they cannot be eliminated but can be modelled by applying specific signal processing methods. The objective of both studies was to propose a signal processing algorithm, based on Wavelet filter, along with a criterion for evaluating and updating the optimal decomposition level of Wavelet transform for achieving accurate information from inertial sensors. In the third phase of our work we are suggesting the utility of a new complex algorithm for processing data from an inertial measurement unit, containing both miniaturized accelerometers and gyros, after undergoing a series of numerical simulations and after obtaining accurate information on vehicle displacement