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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    Title :

    Design of gyroscope-free navigation systems


    Contributors:
    Chin-Woo Tan, (author) / Park, S. (author) / Mostov, K. (author) / Varaiya, P. (author)


    Publication date :

    2001-01-01


    Size :

    544994 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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