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Department of Mechanical Engineering, National Taiwan University, No.1 Roosevelt Rd. Sec.4, ME Eng. Bldg. Room 503-3, Taipei, Taiwan





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Abstract The derivation of linear acceleration, angular acceleration, and angular velocity states from a 12-axis gyroscope-free inertial measurement unit that utilizes four 3-axis accelerometer measurements at four distinct locations is reported. Particularly, a new algorithm which derives the angular velocity from its quadratic form and derivative form based on the context-based interacting multiple model is demonstrated. The performance of the system was evaluated under arbitrary 3-dimensional motion. View Full-Text

Keywords: inertial measurement unit; accelerometer; gyroscope-free; angular velocity; interacting multiple model; context-based inertial measurement unit; accelerometer; gyroscope-free; angular velocity; interacting multiple model; context-based





Autor: Jau-Ching Lu and Pei-Chun Lin *

Fuente: http://mdpi.com/



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