A Class of Inertial Measurement Units for Low-Noise Angular Velocity Estimation

An Inertial Measurement Unit (IMU) architecture estimating angular velocity is introduced. It expands the concept of multi-accelerometers gyroscope-free IMUs (GF-IMUs), taking advantage of their excellent noise performance and resolving their inability to compensate for accelerometers' bias and...

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Bibliographic Details
Published in:IEEE transactions on instrumentation and measurement 2023-01, Vol.72, p.1-1
Main Authors: Papafotis, Konstantinos, Nikitas, Dimitris, Oustoglou, Costas, Sotiriadis, Paul P.
Format: Article
Language:English
Subjects:
Accelerometer
Accelerometers
Angular velocity
Closed loops
Dynamic stability
Dynamical systems
Estimation
Frequency ranges
gyroscope
Gyroscopes
IMU
inertial measurement unit
Inertial navigation
Inertial platforms
Inertial sensors
low-noise
Noise measurement
Nonlinear dynamics
Nonlinear systems
Stability criteria
Velocity measurement
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Description
Summary:An Inertial Measurement Unit (IMU) architecture estimating angular velocity is introduced. It expands the concept of multi-accelerometers gyroscope-free IMUs (GF-IMUs), taking advantage of their excellent noise performance and resolving their inability to compensate for accelerometers' bias and their requirement for specific accelerometers placement, which makes GF-IMUs inappropriate for real world applications. It does so by embedding the accelerometers in a low-bandwidth closed-loop configuration with a three-axis gyroscope and by addressing the complete non-linear dynamics. Extensive theoretical analysis provides a complete framework for designing low-noise IMUs including sufficient stability criteria for the non-linear system's dynamics. Simulation and experimental results support the theoretical analysis and indicate that even a minimal system using the proposed architecture can outperform the gyroscope in noise performance by at most 15dB in some frequency range.
ISSN:0018-9456
1557-9662
DOI:10.1109/TIM.2023.3244216