Angular Rate Estimation Using a Distributed Set of Accelerometers
Sungsu Park,Sung Kyung Hong +1 more
TLDR
This paper proposes and provides observability analysis for the general distributed accelerometers-based inertial measurement unit, and shows that the angular rate can be correctly estimated by general nonlinear state estimators such as an extended Kalman filter, except under certain extreme conditions.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.read more
Citations
More filters
Journal ArticleDOI
25 years of lower limb joint kinematics by using inertial and magnetic sensors: A review of methodological approaches.
TL;DR: A variety of methods have been presented over the past 25 years for the estimate of 2D and 3D joint kinematics by using inertial and magnetic sensors using wearable inertial measurement units, and the aim of the present review is to describe these approaches from a purely methodological point of view.
Journal ArticleDOI
Inertial Sensor Arrays, Maximum Likelihood, and Cramér–Rao Bound
TL;DR: In simulations the proposed fusion method attains the Cramér-Rao bound and outperforms the current state-of-the-art method for measurement fusion in accelerometer arrays.
Proceedings ArticleDOI
Inertial sensor arrays — A literature review
John-Olof Nilsson,Isaac Skog +1 more
TL;DR: A brief summary and literature review on the topic of inertial sensor arrays is provided and an outlook on the main research challenges and opportunities related to inertial Sensor arrays is given.
Journal ArticleDOI
Design and analysis of gyro-free inertial measurement units with different configurations
TL;DR: In this article, the condition number of the configuration matrix is proposed as a fundamental criterion for configuration evaluation, and an optimal design is identified from the four configurations, which significantly reduces the influence of the four different configurations on state estimation.
References
More filters
Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Measurement of Angular Acceleration of a Rigid Body Using Linear Accelerometers
TL;DR: In this article, it was shown that the combination resonances appear to involve the differences, rather than the sums, of the low frequencies involved in a cantilevered pipe conveying fluid.
Journal ArticleDOI
Low-charge detector for the monitoring of hyper-velocity micron-sized dust particles
Ralf Srama,S. Auer +1 more
TL;DR: In this article, a low-noise beam detector was developed, assembled and tested for the Heidelberg dust accelerator facility, which was used to determine in situ the charge, speed and mass of individual dust grains flying through a highly shielded metal cylinder with a length of 200 mm and integrated with a charge sensitive amplifier Amptek model A250F/NF.
Journal ArticleDOI
Gyroscope Free Strapdown Inertial Measurement Unit by Six Linear Accelerometers
TL;DR: In this article, a six-accelerome ter configuration is presented to compute the rotationa^ and translational acceleration of a rigid body, which can be integrated with other sensors of complementary characteristics to enhance the performance.