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This study reports a gyro-free inertial measurement unit (IMU) using solely four triaxial accelerometers. Four different configurations which are feasible for the gyro-free IMU design are presented. The condition number of the configuration matrix is proposed as a fundamental criterion for configuration evaluation. Thus, an optimal design is identified from the four configurations. A scheme is proposed...
This study reports a gyro-free inertial measurement unit (IMU) using solely four triaxial accelerometers. System equations and a configuration which is feasible for the gyro-free IMU design are presented. The propagation of accelerometer measurement errors is analyzed. An unscented Kalman filter (UKF) is proposed for state estimation. Simulation results show that the system state is robustly estimated...
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