Pose-and-twist estimation of a rigid body using accelerometers

2002 ◽  
Author(s):  
K. Parsa ◽  
J. Angeles ◽  
A.K. Misra
Keyword(s):  
Rigid Body ◽  
Pose And Twist

Rigid-body pose and twist estimation using an accelerometer array

2004 ◽  
Vol 74 (3-4) ◽  
pp. 223-236 ◽  
Author(s):  
K. Parsa ◽  
J. Angeles ◽  
A. K. Misra
Keyword(s):  
Rigid Body ◽  
Pose And Twist

Design of Isotropic Accelerometer Strapdowns for Rigid-Body Pose-and-Twist Estimation

2013 ◽  
Author(s):  
Ting Zou ◽  
Jorge Angeles
Keyword(s):  
Rigid Body ◽  
Centripetal Acceleration ◽  
Numerical Example ◽  
Tangential Acceleration ◽  
Novel Design ◽  
Pose And Twist

Coupling of tangential and centripetal acceleration components occurs in the estimation of rigid-body pose and twist with current accelerometer strapdowns. To address this shortcoming and its pernicious effects, a novel design of biaxial accelerometer strapdown is proposed. By virtue of its inherent isotropy, point tangential acceleration is decoupled from its centripetal counterpart, thereby realizing a straightforward and accurate acceleration estimation. The algorithm associated with the strapdown is validated by means of a numerical example, which shows the precision of the strapdown in estimating rigid-body pose and twist.

Isotropic Accelerometer Strapdowns and Related Algorithms for Rigid-Body Pose and Twist Estimation

2014 ◽  
Vol 81 (11) ◽  
Author(s):  
Ting Zou ◽  
Jorge Angeles
Keyword(s):  
Kalman Filter ◽  
Angular Velocity ◽  
Rigid Body ◽  
Angular Acceleration ◽  
Estimation Algorithm ◽  
Velocity Fields ◽  
Excellent Performance ◽  
Simulation Results ◽  
Novel Design ◽  
Pose And Twist

A novel design of accelerometer strapdown, intended for the estimation of the rigid-body acceleration and velocity fields, is proposed here. The authors introduce the concept of isotropic-polyhedral layout of simplicial biaxial accelerometers (SBA), in which one SBA is rigidly attached at the centroid of each face of the polyhedron. By virtue of both the geometric isotropy of the layout and the structural planar isotropy of the SBA, the point tangential relative acceleration is decoupled from its centripetal counterpart, which is filtered out, along with the angular velocity. The outcome is that the rigid-body angular acceleration can be estimated independent of the angular velocity, thereby overcoming a hurdle that mars the estimation process in current accelerometer strapdowns. An estimation algorithm, based on the extended Kalman filter, is included. Simulation results show an excellent performance of the proposed strapdowns in estimating the acceleration and velocity fields of a moving object along with its pose.

TWO PROBLEMS OF RIGID BODY MECHANICS

2016 ◽  
Vol 47 (7) ◽  
pp. 775-782
Author(s):  
Vladimir Alekseevich Shvilkin
Keyword(s):  
Rigid Body ◽  
Rigid Body Mechanics
Sign in / Sign up

Export Citation Format

Share Document