Data pre-processing of inertial measurement unit based on abnormity analysis

To obtain reasonably the apparent acceleration and angular velocity values from the inertial measurement unit (IMU) telemetry data, a data pre-processing framework is proposed based on abnormity analysis. By introducing some concepts such as continuous/noncontinuous time point (CTP/NCTP), local maximum impulse number, and so on, the abnormity analysis can be implemented according to the characteristics of the IMU output data. Based on the abnormal data positioning results from both the time point sequence and the impulse number sequences, corresponding measures can be taken including the time outlier correction, abnormal parameters correction at CTP, parameters interpolation at NCTP. The IMU telemetry data generated from a missile flight test are used for demonstration, and the effectiveness of the proposed approach is validated.