title: State derivation of a 12-axis gyroscope-free inertial measurement unit.
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.
authors.affiliation: Department of Mechanical Engineering, National Taiwan University, No.1 Roosevelt Rd. Sec.4, ME Eng. Bldg. Room 503-3, Taipei, Taiwan. b93502114@ntu.edu.tw
authors.forename: Jau-Ching
authors.initials: JC
authors.lastname: Lu
authors.forename: Pei-Chun
authors.initials: PC
authors.lastname: Lin
mesh_terms: D000054:Acceleration; D000465:Algorithms; D008962:Models, Theoretical; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D013997:Time Factors