We examine the feasibility of designing a gyroscope-free inertial navigation system (INS) that uses only accelerometers to compute the linear and angular motions of a rigid body. The accelerometer output equation is derived to relate the linear and angular motions of a rigid body relative to a fixed inertial frame. A sufficient condition is given to determine if a configuration of accelerometers is feasible. If the condition is satisfied, the angular and linear motions can be computed separately using two decoupled equations of an input-output (I/O) dynamical system; a state equation for angular velocity and an output equation for linear acceleration. This simple computation scheme is derived from the corresponding dynamical system equations for a special cube configuration for which the angular acceleration is expressed as a linear combination of the accelerometer outputs.


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    Titel :

    Design of gyroscope-free navigation systems


    Beteiligte:
    Chin-Woo Tan, (Autor:in) / Park, S. (Autor:in) / Mostov, K. (Autor:in) / Varaiya, P. (Autor:in)


    Erscheinungsdatum :

    01.01.2001


    Format / Umfang :

    544994 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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