State derivation of a 12-axis gyroscope-free inertial measurement unit

The derivation of linear acceleration, angular acceleration, and angular velocity states from a 12-axis gyroscope-free inertial measurement unit that utilizes four 3-axis accelerometer measurements at four distinct locations is reported. Particularly, a new algorithm which derives the angular veloci...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2011-03, Vol.11 (3), p.3145-3162
Main Authors: Lu, Jau-Ching, Lin, Pei-Chun
Format: Article
Language:English
Subjects:
Acceleration
accelerometer
Accelerometers
Algorithms
angular velocity
context-based
gyroscope-free
inertial measurement unit
interacting multiple model
Kalman filters
Models, Theoretical
Robotics - instrumentation
Robotics - methods
Sensors
Time Factors
Velocity
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Summary:The derivation of linear acceleration, angular acceleration, and angular velocity states from a 12-axis gyroscope-free inertial measurement unit that utilizes four 3-axis accelerometer measurements at four distinct locations is reported. Particularly, a new algorithm which derives the angular velocity from its quadratic form and derivative form based on the context-based interacting multiple model is demonstrated. The performance of the system was evaluated under arbitrary 3-dimensional motion.
ISSN:1424-8220
1424-8220
DOI:10.3390/s110303145