Gyroscope-free orientation measurement using accelerometers and magnetometer

摘要

The gyroscope-free accelerometer based inertial sensor allows for instantaneous (not time-recursive) measurement of angular velocity, angular acceleration of the rigid body, and linear acceleration of any point on the rigid body. The analytical solution to obtain orientation measurements (angular velocity and angular acceleration) does not require knowledge of body dynamics. Measurement of the rigid body angular acceleration can be used to estimate angular velocity in sensor fusion of various inertial and non-inertial sensor. For a body moving on ground with a point of contact with zero relative acceleration, the sensor can compensate for non-gravitational, dynamic acceleration, thus, is capable of separating gravity from motion. The presented accelerometer-magnetometer based sensor can uniquely measure the orientation between two bodies with a point of contact with zero relative acceleration (e.g. a rotating joint).