Identification of the Bandwidth of a Magneto-Inertial Navigation Filter
Identification de la bande passante d'un filtre de navigation magnéto-inertielle
Résumé
We address the analysis of a nonlinear navigation filter used in Magneto-Inertial Dead-Reckoning (MIDR) whose input data are provided by a home-made device. This filter takesthe measurements given by the magnetic sensors as inputs and returns the velocity of the body.Therefore, any unmodeled time-varying disturbance in the measurements impacts the estimationof the velocity and yields errors that distort the estimation. For dimensioning purpose, we aim toidentify the bandwidth of the linearized part of this filter. To derive a model of this bandwidth,we first simplify our filter as a time-invariant Single-Input Single-Ouput (SISO) system in thesituation where the steady-state regime is reached. The Best Linear Approximation (BLA) ofthis nonlinear system can hence be described by a conventional transfer function. We justifythe validity of such a linear approximation for Extended Kalman Filters (EKF) and identifyit with different methods, yielding a model for the bandwidth depending on the experimentalconditions of navigation. We show that our filter is actually suitable for pedestrian navigation.Finally, simulations in realistic physical situations are used for validation.
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