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14 February 2005 Design of a nine-accelerometer non-gyro inertial measurement unit
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Non-gyro inertial measurement unit (NGIMU) uses only accelerometers replacing gyroscopes to compute the motion of a moving body. Use the traditional accelerometer configurations for reference, a novel nine-accelerometer configuration of NGIMU is proposed with its mathematic model constructed. This configuration can acquire the expressions of the angular accelerations directly and avoid calculating the differential poly-equation. To confirm the effectiveness of the design, the experiment system is set up and the DSP data processing circuit is also done. In addition, the experiments of the angle estimating are performed and the results show that the design can reflect the trend of the angle changing with high precision to some extend.
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Mingli Ding, Wei Wei, and Qi Wang "Design of a nine-accelerometer non-gyro inertial measurement unit", Proc. SPIE 5634, Advanced Sensor Systems and Applications II, (14 February 2005);

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