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Observing Relative Motion With Three Accelerometer Triads

Schopp, P. and Graf, H. and Maurer, M. and Romanovas, Michailas and Klingbeil, L. and Manoli, Y. (2014) Observing Relative Motion With Three Accelerometer Triads. IEEE Transactions on Instrumentation and Measurement, 63 (12), pp. 3137-3151. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TIM.2014.2327472 ISSN 0018-9456

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6846314&queryText%3DRomanovas+Schopp

Abstract

A gyroscope-free inertial measurement unit (GF-IMU) detects the relative motion of a body based on acceleration measurements only. It consists of multiple transducers attached at distinct locations within the body that together form an accelerometer array. In this paper, we employ only three accelerometer triads in order to completely capture the transversal and angular acceleration as well as the angular velocity. By modeling the GF-IMU as a nonlinear control system, we are able to conduct an observability analysis, which shows that this approach is capable of capturing an arbitrary spatial motion. We also show that additional triads only provide redundant information. Based on the control system formulation, we derive the models required to employ a nonlinear Kalman filter as a state observer. As the system description is of a general form they are suitable for any accelerometer array regardless of the number and placement of the transducers. Hence, the presented Kalman filter approach is applicable to all observable GF-IMU configurations. The measurements taken with a prototype on a 3-D rotation table confirm the observability analysis. The evaluations also show that the approach using three accelerometer triads achieves an estimation accuracy comparable with that of arrays employing a higher number of triads.

Item URL in elib:https://elib.dlr.de/93388/
Document Type:Article
Title:Observing Relative Motion With Three Accelerometer Triads
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schopp, P.UNSPECIFIEDUNSPECIFIED
Graf, H.UNSPECIFIEDUNSPECIFIED
Maurer, M.UNSPECIFIEDUNSPECIFIED
Romanovas, Michailasmichailas.romanovas (at) dlr.deUNSPECIFIED
Klingbeil, L.UNSPECIFIEDUNSPECIFIED
Manoli, Y.UNSPECIFIEDUNSPECIFIED
Date:1 December 2014
Journal or Publication Title:IEEE Transactions on Instrumentation and Measurement
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:63
DOI :10.1109/TIM.2014.2327472
Page Range:pp. 3137-3151
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:0018-9456
Status:Published
Keywords:Acceleration;Accelerometers;Angular velocity;Arrays;Mathematical model;Observability;Sensors;Accelerometer array;angular velocity;gyroscope-free inertial measurement unit (GF-IMU);nonlinear Kalman filter;observability.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Automated Aids for Safe and Efficient Vessel Traffic Process (old)
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Romanovas, Michailas
Deposited On:10 Dec 2014 10:40
Last Modified:06 Sep 2019 15:17

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