Refining accelerometer noise using Kalman filter

1. Does Kalman filter remove noise?
2. Why are accelerometers noisy?
3. What is Kalman filter in IMU?
4. How does extended Kalman filter work?

Does Kalman filter remove noise?

The results indicate that the Kalman filter techniques are very efficient in noise cancellation and can be effectively used in acoustic signal processing. The noise suppression for real time signal using the Kalman filters in found to be SNR ~0.2 dB and MSE~0.0030 for the non-stationary speech signal.

Why are accelerometers noisy?

Accelerometer amplifiers, like all electronic amplifiers, have some noise. This noise is produced by the electronic components in the amplifier. It is not possible to make an electronic amplifier with zero noise. An amplifier with the lowest noise is not necessarily the best amplifier for industrial applications.

What is Kalman filter in IMU?

The Kalman filter estimates orientation angles using all of the sensor axis contributions within the IMU.

How does extended Kalman filter work?

The Extended Kalman Filter (EKF) handles nonlinear process and measurement models by resorting to linearization for the propagation of error covariance matrix and Kalman gain computation.