Department of Mechanical Engineering, National Taiwan University, No.1 Roosevelt Rd. Sec.4, ME Eng. Bldg. Room 503-3, Taipei, Taiwan.
Sensors (Basel). 2011;11(3):3145-62. doi: 10.3390/s110303145. Epub 2011 Mar 14.
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.
本文报道了一种从 12 轴无陀螺仪惯性测量单元中推导出线性加速度、角加速度和角速度状态的方法，该单元利用四个位于四个不同位置的 3 轴加速度计测量值。特别地，展示了一种基于基于上下文交互多模型的二次型和导数型推导角速度的新算法。在任意三维运动下评估了系统的性能。
