Feasibility of A Gyroscope-free Inertial Navigation System for Tracking Rigid Body Motion

In this report, the authors examine the feasibility of designing an accelerometer-based gyroscope-free inertial navigation system (INS) which uses only accelerometers to compute the linear and angular motions of a rigid body. A model for a micro-machined accelerometer is developed and the accelerometer output equation is derived to relate the linear and angular motions of a rigid body with respect to a fixed inertial frame. A sufficient condition is used to determine if a configuration of accelerometers is feasible. A configuration of six accelerometers is presented, and an algorithm is developed to compute both the angular and linear motions.

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    University of California, Berkeley

    Department of Electrical Engineering and Computer Sciences
    Berkeley, CA  United States  94720

    University of California, Berkeley

    California PATH Program, Institute of Transportation Studies
    Richmond Field Station, 1357 South 46th Street
    Richmond, CA  United States  94804-4648

    California Department of Transportation

    1120 N Street
    Sacramento, CA  United States  95814
  • Authors:
    • Tan, Chin-Woo
    • Mostov, Kirill
    • Varaiya, P P
  • Publication Date: 2000-5


  • English

Media Info

  • Media Type: Digital/other
  • Pagination: 33 p.
  • Serial:

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Filing Info

  • Accession Number: 00799979
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Report/Paper Numbers: UCB-ITS-PRR-2000-9
  • Created Date: Oct 12 2000 12:00AM