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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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/oclc/44162398
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Corporate Authors:
University of California, Berkeley
Department of Electrical Engineering and Computer Sciences
Berkeley, CA United States 94720University of California, Berkeley
California PATH Program, Institute of Transportation Studies
Richmond Field Station, 1357 South 46th Street
Richmond, CA United States 94804-4648California Department of Transportation
1120 N Street
Sacramento, CA United States 95814 -
Authors:
- Tan, Chin-Woo
- Mostov, Kirill
- Varaiya, P P
- Publication Date: 2000-5
Language
- English
Media Info
- Media Type: Digital/other
- Pagination: 33 p.
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Serial:
- PATH Research Report
- Publisher: University of California, Berkeley
- ISSN: 1055-1425
Subject/Index Terms
- TRT Terms: Accelerometers; Algorithms; Inertial navigation systems
- Subject Areas: Data and Information Technology; Highways; I72: Traffic and Transport Planning;
Filing Info
- Accession Number: 00799979
- Record Type: Publication
- Source Agency: UC Berkeley Transportation Library
- Report/Paper Numbers: UCB-ITS-PRR-2000-9
- Files: CALTRANS, TRIS, ATRI, STATEDOT
- Created Date: Oct 12 2000 12:00AM