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Research Papers

Robust Design of Inertial Measurement Units Based on Accelerometers

[+] Author and Article Information
Zhongkai Qin

Department of Mechanical Engineering, École Polytechnique, Montréal, Québec, H3C 3A7, Canadazhongkai.qin@polymtl.ca

Luc Baron

Department of Mechanical Engineering, École Polytechnique, Montréal, Québec, H3C 3A7, Canadaluc.baron@polymtl.ca

Lionel Birglen

Department of Mechanical Engineering, École Polytechnique, Montréal, Québec, H3C 3A7, Canadalionel.birglen@polymtl.ca

J. Dyn. Sys., Meas., Control 131(3), 031010 (Mar 20, 2009) (7 pages) doi:10.1115/1.3072157 History: Received February 14, 2008; Revised October 29, 2008; Published March 20, 2009

This paper presents a robust design scheme for an inertial measurement unit (IMU) composed only of accelerometers. From acceleration data measured by a redundant set of accelerometers, the IMU proposed in this paper can estimate the linear acceleration, angular velocity, and angular acceleration of the rigid-body to which it is attached. The robustness of our method to the uncertainty of the locations of the sensors and the measurement noise is obtained through redundancy and optimal configuration of the onboard sensors. In addition, the fail-diagnostics and fail-safe issues are also addressed for reliable operation.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 1

A triaxial accelerometer by Silicon Designs©

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Figure 2

Inertial and body frames

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Figure 3

Illustration of a practical triaxial accelerometer

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Figure 5

Optimal design with five sensors

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Figure 6

IMU operation flow chart

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Figure 7

Kinematic description of a six degree of freedom serial robot equipped with an IMU

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Figure 8

Computed and actual angular accelerations during an arbitrary trajectory

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Figure 9

Relative error er

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Figure 10

Three designs derived from the vertices of a cube

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Figure 11

The angular accelerations error e during the trajectory

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Figure 12

The angular accelerations error e during the trajectory

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