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Sensors 2011, 11(3), 3145-3162; doi:10.3390/s110303145

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

Department of Mechanical Engineering, National Taiwan University, No.1 Roosevelt Rd. Sec.4, ME Eng. Bldg. Room 503-3, Taipei, Taiwan
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Received: 28 December 2010 / Revised: 6 February 2011 / Accepted: 22 February 2011 / Published: 14 March 2011
(This article belongs to the Section Physical Sensors)
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Abstract

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. View Full-Text
Keywords: inertial measurement unit; accelerometer; gyroscope-free; angular velocity; interacting multiple model; context-based inertial measurement unit; accelerometer; gyroscope-free; angular velocity; interacting multiple model; context-based
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Lu, J.-C.; Lin, P.-C. State Derivation of a 12-Axis Gyroscope-Free Inertial Measurement Unit. Sensors 2011, 11, 3145-3162.

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