Determination of an Attitude Estimation Unit with Inertial Sensors Modeled by Allan Variance

This article deal with the identification, by Allan variance, of the associated noises in signals from microelectromechanical (MEMS) inertial sensors accelerometer and gyroscope, whose data are used in attitude calculus of rigid bodies. An Arduino Uno microprocessor was used to collect sensor data while the software MATLAB was applied for post processing. The results were used for building error models to improve simulators and also to refine attitude estimation with Kalman filter.