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

Sensors and Actuators, A: Physical

Volumn 162, Issue 2, 2010, Pages 379-387

  Schopp, Patrick ^a   Klingbeil, Lasse ^b   Peters, Christian ^a   Manoli, Yiannos ^a,b  

^a UNIVERSITY OF FREIBURG   (Germany)

^b HSG IMIT Institute of Micromachining and Information Technology   (Germany)

Author keywords

Calibration; Geometry evaluation; Gyroscope free inertial measurement unit; Unscented Kalman filter

Indexed keywords

ACCELERATION SENSORS; ACCURACY IMPROVEMENT; ANALYTICAL EVALUATION; ANGULAR ACCELERATION; ANGULAR RATE; BODY FRAMES; BODY MOTIONS; GEOMETRY EVALUATION; GEOMETRY EVALUATIONS; GYROSCOPE-FREE; GYROSCOPE-FREE INERTIAL MEASUREMENT UNIT; INERTIAL MEASUREMENT UNIT; RMS ERRORS; SENSOR PLACEMENT; UNSCENTED KALMAN FILTER;

ACCELEROMETERS; COMPUTATIONAL GEOMETRY; GYROSCOPES; KALMAN FILTERS; NONLINEAR FILTERING; ROTATION; SENSORS; UNITS OF MEASUREMENT;

CALIBRATION;

EID: 77957153943     PISSN: 09244247     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.sna.2010.01.019     Document Type: Conference Paper

References (25)

1. W. Fleming New automotive sensors - a review IEEE Sens. J. 8 11 2008 1900 1921
2. H. Weinberg MEMS sensors are driving the automotive industry Sensors 19 2 2002 36 41
3. N. Barbour, and G. Schmidt Inertial sensor technology trends IEEE Sens. J. 1 4 2001 332 339
4. N. Yazdi, F. Ayazi, and K. Najafi Micromachined inertial sensors Proc. IEEE 86 8 1998 1640 1659
5. R. Eger, Schätzung von Fahrzeugüberschlägen, Ph.D. Thesis, University of Karlsruhe, Germany, March 2000.
6. W.T. Ang, P.K. Khosla, and C.N. Riviere Design of all-accelerometer inertial measurement unit for tremor sensing in hand-held microsurgical instrument Proc. IEEE International Conference on Robotics and Automation IEEE 2003 1781 1786
7. J.-H. Chen, S.-C. Lee, and D.B. Debra Gyroscope free strapdown inertial measurement unit by six linear accelerometers AIAA J. Guid. Control Dyn. 17 2 1994 286 290
8. T. Chen Design and analysis of a fault-tolerant coplanar gyro-free inertial measurement unit IEEE/ASME J. Microelectromech. Syst. 17 1 2008 201 212
9. T. Chen, and C. Kao Design and analysis of an orientation estimation system using coplanar gyro-free inertial measurement unit and magnetic sensors Sens. Actuators A: Phys. 144 2 2008 251 262
10. T. Chen, and S. Park MEMS SoC: observer-based coplanar gyro-free inertial measurement unit IOP J. Micromech. Microeng. 15 9 2005 1664 1673
11. N.K. Mital, and A.I. King Computation of rigid-body rotation in three-dimensional space from body-fixed linear acceleration ASME J. Appl. Mech. 46 1979 925 930
12. K. Mostov, A. Soloviev, and T.-K. Koo Accelerometer based gyro-free multi-sensor generic inertial device for automotive applications Proc. IEEE Conference on Intelligent Transportation System, ITSC'97 1997 1047 1052
13. A.J. Padgaonkar, K.W. Krieger, and A.I. King Measurement of angular acceleration of a rigid body using linear accelerometers ASME J. Appl. Mech. 42 42 1975 552 556
14. C.-W. Tan, and S. Park Design of accelerometer-based inertial navigation systems IEEE Trans. Instrum. Meas. 54 6 2005 2520 2530
15. B. Zappa, G. Legnana, A.J. van der Bogert, and R. Adamini On the number and placement of accelerometers for angular velocity and acceleration determination ASME J. Dyn. Syst. Meas. Contr. 123 3 2001 552 554
16. C. Peters, A. Buhmann, D. Maurath, and Y. Manoli A novel full accelerometer based inertial navigation system Proc. Mikrosystemtechnik Kongress 2005 233 236
17. K. Parsa, J. Angeles, and A.K. Misra Rigid-body pose and twist estimation using an accelerometer array Arch. Appl. Mech. 74 3-4 2004 223 236
18. K. Parsa, T. Lasky, and B. Ravani Design and implementation of a mechatronic, all-accelerometer inertial measurement unit IEEE/ASME Trans. Mechatron. 12 6 2007 640 650
19. A. Buhmann, C. Peters, M. Cornils, and Y. Manoli A GPS aided full linear accelerometer based gyroscope-free navigation system Proc. IEEE/ION Position, Location, And Navigation Symposium 2006 622 629
20. P. Schopp, L. Klingbeil, C. Peters, A. Buhmann, and Y. Manoli Sensor fusion algorithm and calibration for a gyroscope-free IMU Proc. Chem. 2009 1323 1326 (Proc. Eurosensors XXIII Conference)
21. T. Arens, F. Hettlich, C. Karpfinger, U. Kockelkorn, K. Lichtenegger, and H. Stachel Mathematik 2008 Spektrum Akademischer Verlag
22. R.J. Freund, and W.J. Wilson Regression Analysis 1998 Academic Press
23. Y. Bar-Shalom Estimation with Applications to Tracking and Navigation 2001 Wiley New York
24. E. Wan, and R. Van Der Merwe The Unscented Kalman Filter for nonlinear estimation Proceedings of the IEEE Adaptive Systems for Signal Processing, Communications, and Control Symposium 2000 153 158
25. Freescale, Accelerometer MMA2260D and MMA1260D Datasheet (2009). www.freescale.com.