Hybrid attitude tracking of rigid bodies without angular velocity measurement

2012 ◽  
Vol 61 (4) ◽  
pp. 595-601 ◽  
Author(s):  
Rune Schlanbusch ◽  
Esten Ingar Grøtli ◽  
Antonio Loria ◽  
Per Johan Nicklasson
Keyword(s):  
Angular Velocity ◽  
Velocity Measurement ◽  
Rigid Bodies ◽  
Attitude Tracking

THE CALIBRATION OF AN ARRAY OF ACCELEROMETERS

2011 ◽  
Vol 35 (2) ◽  
pp. 251-267 ◽  
Author(s):  
Dany Dubé ◽  
Philippe Cardou
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Least Squares ◽  
Calibration Method ◽  
Calibration Procedure ◽  
Rigid Bodies ◽  
New Method ◽  
Scale Factors ◽  
Array Calibration ◽  
The One

An accelerometer-array calibration method is proposed in this paper by which we estimate not only the accelerometer offsets and scale factors, but also their sensitive directions and positions on a rigid body. These latter parameters are computed from the classical equations that describe the kinematics of rigid bodies, and by measuring the accelerometer-array displacements using a magnetic sensor. Unlike calibration schemes that were reported before, the one proposed here guarantees that the estimated accelerometer-array parameters are globally optimum in the least-squares sense. The calibration procedure is tested on OCTA, a rigid body equipped with six biaxial accelerometers. It is demonstrated that the new method significantly reduces the errors when computing the angular velocity of a rigid body from the accelerometer measurements.

scholarly journals Solving a Problem of Rotary Motion for a Heavy Solid Using the Large Parameter Method

2020 ◽  
Vol 2020 ◽  
pp. 1-7 ◽  
Author(s):  
A. I. Ismail
Keyword(s):  
Angular Velocity ◽  
Small Parameter ◽  
Initial Conditions ◽  
Geometric Interpretation ◽  
Rigid Bodies ◽  
Parameter Method ◽  
Large Parameter ◽  
Small Parameter Method ◽  
Rotational Motions ◽  
The Stability

The small parameter method was applied for solving many rotational motions of heavy solids, rigid bodies, and gyroscopes for different problems which classify them according to certain initial conditions on moments of inertia and initial angular velocity components. For achieving the small parameter method, the authors have assumed that the initial angular velocity is sufficiently large. In this work, it is assumed that the initial angular velocity is sufficiently small to achieve the large parameter instead of the small one. In this manner, a lot of energy used for making the motion initially is saved. The obtained analytical periodic solutions are represented graphically using a computer program to show the geometric periodicity of the obtained solutions in some interval of time. In the end, the geometric interpretation of the stability of a motion is given.

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