摘要：A detailed methodology that allows the developing of stochastic discretetime models of MEMS gyroscope and accelerometer noises is presented. The methodology is based on the frequency-domain and time-domain characteristics of the sensors noises and is illustrated for the case of Analog Devices tri-axis Inertial measurement Sensor ADIS16350. It is shown that the gyro and accelerometer noises have similar second-order models which are appropriate for usage in the development of Kalman filters for navigation and control systems.
