In this work angular velocity solutions are presented from accelerometers. Two main formulations are presented. The first is based on using multiple vector sets of accelerometers, and the second is based on using multiple single-axis accelerometers. Linear least-squares approaches are derived for both, along with error-covariance expressions for the angular velocity estimates. Nonlinear least-squares approaches are also derived for both, which also provide the Cramér–Rao lower bound as a byproduct. All approaches have a sign ambiguity in the angular velocity solutions, which is resolved using a simple linear Kalman filter. Simulation results are shown to compare the formulations, along with the linear and nonlinear least-squares solutions.
Angular Velocity Estimation and Error-Covariance Analysis from Accelerometers Using Least Squares
Journal of Guidance, Control, and Dynamics ; 45 , 11 ; 1980-1995
2022-06-17
16 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Error-Covariance Analysis of the Total Least Squares Problem
British Library Conference Proceedings | 2011
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