IMU Angular Velocity Denoising Algorithm Based on Rotational Variational Mode Decomposition
In the application of inertial measurement unit(IMU),the accumulation of angular velocity noise errors greatly af-fects the attitude calculation performance.Aiming at the noise existing in the angular velocity,a denoising algorithm was pro-posed,which combined variational mode decomposition(VMD)and angular velocity rotational three-dimensional decomposition.Firstly,the output of angular velocity in different virtual axes was obtained by rotation of coordinate system,and then the virtual axis signals were reconstructed by extracting appropriate components using VMD.The nonlinear reconstruction of VMD made the residual errors of each virtual axis relatively independent.Finally,after the reverse rotation of multiple virtual axes back to the original coordinate system,the mean value of independent signals can effectively eliminate the angular velocity noise in IMU.The experimental results based on EuRoC dataset show that the algorithm has a remarkable effect on noise reduction,root mean square error is reduced by 70%～85%,and the triaxial error can be effectively balanced.
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