Optimization approach to adapt Kalman filters for the real-time application of accelerometer and gyroscope signals' filtering

A problem of accelerometer and gyroscope signals' filtering is discussed in the paper. Triple-axis accelerometer and three single-axis gyroscopes are the elements of strapdown system measuring head. Effective noise filtration impacts on measured signal reliability and the computation precision of moving object position and orientation. The investigations were carried out to apply Kalman filter in a real-time application of acceleration and angular rate signals filtering. The filter parameter adjusting is the most important task of the investigation, because of unknown accuracy of the measuring head and unavailability of precisely known model of the system and the measurement. Results of calculations presented in the paper describe relation between filter parameters and two assumed criterions of filtering quality: output signal noise level and filter response rate. The aim of investigation was to achieve and find values of the parameters which make Kalman filter useful in the real-time application of acceleration and angular rate signals filtering.