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.

Record URL:
Availability:
- Find a library where document is available. Order URL: http://worldcat.org/oclc/44162398
Corporate Authors:
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

Language

English

Media Info

Media Type: Digital/other
Pagination: 33 p.
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