Accelerometer-Based Tilt Determination for Rigid Bodies With a Nonaccelerated Pivot Point

摘要

An estimation algorithm is proposed for determining pitch and roll angles (tilt), angular velocities, and angular accelerations of a rigid body with a nonaccelerated pivot point. The estimation uses only accelerometer measurements. It is based on a kinematic model of the rigid body and is, therefore, independent of its dynamics; only the mounting positions of the sensors need to be known. Simulation results indicate a significant performance increase compared with an existing method, a claim which is supported by experimental results.