Next Article in Journal
Temperature Field Analysis for PZT Pyroelectric Cells for Thermal Energy Harvesting
Next Article in Special Issue
Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots
Previous Article in Journal
Collective Odor Source Estimation and Search in Time-Variant Airflow Environments Using Mobile Robots
Previous Article in Special Issue
A Comprehensive Approach to WSN-Based ITS Applications: A Survey
Article Menu

Export Article

Open AccessArticle
Sensors 2011, 11(11), 10444-10457; doi:10.3390/s111110444

Angular Rate Estimation Using a Distributed Set of Accelerometers

Department of Aerospace Engineering, Sejong University, Seoul 143-747, Korea
*
Author to whom correspondence should be addressed.
Received: 26 September 2011 / Revised: 25 October 2011 / Accepted: 31 October 2011 / Published: 2 November 2011
(This article belongs to the Special Issue Collaborative Sensors)
View Full-Text   |   Download PDF [494 KB, uploaded 21 June 2014]   |  

Abstract

A distributed set of accelerometers based on the minimum number of 12 accelerometers allows for computation of the magnitude of angular rate without using the integration operation. However, it is not easy to extract the magnitude of angular rate in the presence of the accelerometer noises, and even worse, it is difficult to determine the direction of a rotation because the angular rate is present in its quadratic form within the inertial measurement system equations. In this paper, an extended Kalman filter scheme to correctly estimate both the direction and magnitude of the angular rate through fusion of the angular acceleration and quadratic form of the angular rate is proposed. We also provide observability analysis for the general distributed accelerometers-based inertial measurement unit, and show that the angular rate can be correctly estimated by general nonlinear state estimators such as an extended Kalman filter, except under certain extreme conditions.
Keywords: distributed accelerometers; inertial measurement unit; Kalman filter; observability distributed accelerometers; inertial measurement unit; Kalman filter; observability
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Park, S.; Hong, S.K. Angular Rate Estimation Using a Distributed Set of Accelerometers. Sensors 2011, 11, 10444-10457.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top