Sensor Fusion Algorithm and Calibration for a Gyroscope-free IMU

An Experimental Validation of Collision-Free Trajectories for Parallel Manipulators

“…The acceleration of a point P fixed on a rigid body with a position r can be expressed as reported, for example, by Schopp et al (2009), in the form. where acceleration a B , the angular velocity B , and the angular acceleration B are described for the relative movement of the rigid body OB with respect to the fixed frame OF.…”

Design, geometry evaluation, and calibration of a gyroscope-free inertial measurement unit

“…Parsa et al [17,18] solve this problem by choosing the correct solution, and therefore the sign of the angular velocity, by the integration of the angular acceleration. In contrast to this, we apply an Unscented Kalman filter to determine the correct angular velocity [19,20]. This non-linear, recursive filtering technique provides great robustness and noise cancellation.…”

“…However, the positions and orientations of the accelerometers have to be known in order to calculate the relative body movement correctly. In [20] we proposed a calibration scheme to determine all of these parameters entirely without any previous knowledge, which makes an arbitrary placement of the accelerometers feasible.…”

A novel high precision inertial measurement scheme and its optimization method for high-speed rotating ammunition

“…[2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17] Algrain 2 proved that at least six accelerometers are needed for a complete description of a rigid body motion. Then Chen et al 3 proposed the six-accelerometer (6A) cubic configuration, which has one accelerometer at the center of each surface of a cube with its sensing direction along the respective surface diagonal.…”

“…Parsa et al 10 presented a cube construction with one accelerometer on each edge. Schopp et al 11 proposed a configuration with four tri-axial accelerometers set at the middle of four different edges. Park and Hong 12 presented two 12A configurations.…”