caa a22 4500 467951039 CHVBK 20180405193742.0 cr unu---uuuuu 170328e20041201xx s 000 0 eng 10.1007/s00419-004-0345-6 doi (NATIONALLICENCE)springer-10.1007/s00419-004-0345-6 (NATIONALLICENCE)springer-10.1007/BF02637198 Rigid-body pose and twist estimation using an accelerometer array [Elektronische Daten] [K. Parsa, J. Angeles, A. K. Misra] Summary: A novel technique for the determination of the pose and the twist of rigid bodies using point-acceleration data is proposed. These data are collected from an accelerometer array, which is a kinematically redundant set of triaxial accelerometers. Because orientational error in the installation of the accelerometers can be fatal to the accuracy of the results, a calibration procedure based on the consistency of the point accelerations is outlined. The formulation developed is then utilized in the simulation analysis of two sample motions. The relations required to estimate the pose and the twist are derived in a body-fixed frame. The body angular acceleration and angular velocity, in this order, are determined directly from the acceleration data; the body attitude is then computed through integration. Springer-Verlag Berlin Heidelberg, 2004 Accelerometer nationallicence gyroscope-free inertial navigation nationallicence pose and twist nationallicence Parsa K. Currently Visiting Fellow, Space Technologies Canadian Space Agency, 6767 route de I'Aeroport, Qc J3Y 8Y9, Saint-Hubert, Canada aut Angeles J. Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke St. W., H3A 2K6, Montreal, QC, Canada aut Misra A. K. Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke St. W., H3A 2K6, Montreal, QC, Canada aut Archive of Applied Mechanics Springer-Verlag 74/3-4(2004-12-01), 223-236 0939-1533 74:3-4<223 2004 74 419 https://doi.org/10.1007/s00419-004-0345-6 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s00419-004-0345-6 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Parsa K. Currently Visiting Fellow, Space Technologies Canadian Space Agency, 6767 route de I'Aeroport, Qc J3Y 8Y9, Saint-Hubert, Canada aut NATIONALLICENCE 700 1- Misra A. K. Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke St. W., H3A 2K6, Montreal, QC, Canada aut NATIONALLICENCE 700 1- Angeles J. Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke St. W., H3A 2K6, Montreal, QC, Canada aut NATIONALLICENCE 773 0- Archive of Applied Mechanics Springer-Verlag 74/3-4(2004-12-01), 223-236 0939-1533 74:3-4<223 2004 74 419 NATIONALLICENCE 856 40 https://doi.org/10.1007/BF02637198 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Misra A. Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke St. W., H3A 2K6, Montreal, QC, Canada aut NATIONALLICENCE 700 1- Parsa K. Space Technologies Canadian Space Agency, 6767 route de I'Aeroport Saint, J3Y 8Y9, Hubert, Qc, Canada aut Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE NATIONALLICENCE NL-springer