Design and Implementation of a 9-Axis Inertial Measurement Unit

被引：0

作者：

Lin, Pei-Chun ^{[1
]}

Ho, Chi-Wei ^{[1
]}

机构：

[1] Natl Taiwan Univ, Dept Mech Engn, Taipei 10764, Taiwan

来源：

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年

关键词：

LINEAR ACCELEROMETERS; ACCELERATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We report on a 9-axis inertial measurement unit (IMU) which utilizes 3-axis angular velocity measurements from rate gyros and 6-axis linear acceleration measurements from three 2-axis accelerometers. This system is capable of deriving linear acceleration, angular acceleration and angular velocity via simple matrix operations, and it also releases the requirement of accelerometer installation at the center of mass as in the traditional IMU. An optimal configuration of the system is proposed based on the analysis of rigid body dynamics and matrix theory. We performed error analyses, including position, orientation, and sensor noise, and we also report the results of experimental evaluation. We believe the analysis presented in this paper would benefit the practical design of IMUs in the future.

引用

页码：2314 / 2319

页数：6

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