Abstract
This paper presents a gyroscope-free inertial measurement unit (IMU) that only consists of linear acceleration sensors. Only a simple matrix multiplication has to be performed in order to calculate the complete relative movement of a body. However, the precise positions and orientations of the sensors within the body frame have to be known in order to calculate the exact movement of the body. A simple and effective calibration algorithm developed in this paper can be applied to determine these parameters entirely even without any previous knowledge. Measurements on a 3D-rotation table were carried out to demonstrate the accuracy improvements after the calibration. Thereby, the RMS error of the angular rate was reduced by a factor of 2.8.
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