NDLI: Design and Implementation of a Mechatronic, All-Accelerometer Inertial Measurement Unit

Content Provider	IEEE Xplore Digital Library
Author	Parsa, K. Lasky, T.A. Ravani, B.
Copyright Year	1996
Abstract	This paper discusses the design, calibration, simulation, and experimental validation of a kinematically redundant inertial measurement unit that is based solely on accelerometers. The sensor unit comprises 12 accelerometers, two on each face of a cube. The location and direction of the sensors are determined so as to locally optimize the numerical conditioning of the system of governing kinematic equations. The orientational installation error of each sensor is identified by off-line iterative processing of the gravitational acceleration measurements made at a number of known orientations of the unit, thus allowing subsequent calibration. Furthermore, a novel procedure is developed through which the acceleration measurements can be used to directly determine the body angular velocity; this results in a major accuracy improvement over similar works whereby the angular velocity is obtained via integrating the angular acceleration. Experimental results are presented to validate the methodology, design, and implementation.
Starting Page	640
Ending Page	650
Page Count	11
File Size	790079
File Format	PDF
ISSN	10834435
Volume Number	12
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechatronics Measurement units Accelerometers Calibration Angular velocity Sensor systems Kinematics Equations Acceleration Design methodology inertial navigation Acceleration measurement inertial measurement unit (IMU)
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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