The derivation of linear acceleration, angular acceleration, and angular velocity states from a 12-axis gyroscope-free inertial measurement unit that utilizes four 3-axis accelerometer measurements at four distinct locations is reported. Particularly, a new algorithm which derives the angular velocity from its quadratic form and derivative form based on the context-based interacting multiple model is demonstrated. The performance of the system was evaluated under arbitrary 3-dimensional motion. © 2011 by the authors; licensee MDPI, Basel, Switzerland.
Lu, J. C., & Lin, P. C. (2011). State derivation of a 12-axis gyroscope-free inertial measurement unit. Sensors, 11(3), 3145–3162. https://doi.org/10.3390/s110303145