State Derivation of a 12-Axis Gyroscope-Free Inertial Measurement Unit

Sensors

Jau-Ching Lu¹ 

[1] Department of Mechanical Engineering, National Taiwan University, No.1 Roosevelt Rd. Sec.4, ME Eng. Bldg. Room 503-3, Taipei, Taiwan; E-Mail

关键词: inertial measurement unit;    accelerometer;    gyroscope-free;    angular velocity;    interacting multiple model;    context-based;   

DOI  :  10.3390/s110303145

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2011 by the authors; licensee MDPI, Basel, Switzerland.