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    Geometrical configuration comparison of redundant inertial measurement units

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    ESCOBAR-ALVAREZ-MASTERS-REPORT.pdf (1.133Mb)
    Date
    2010-12
    Author
    Escobar Alvarez, Hector Domingo
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    Abstract
    Inertial measurement units (IMUs) are used in a wide range of applications to estimate position, velocity, and attitude of vehicles. The high cost of tactical grade IMUs makes the low-cost microelectromechanical systems (MEMS) based IMUs appealing. These types of IMUs are less accurate, so to counteract this effect, multiple and different configurations should be used. The work presented here provides efficient and low cost solutions using different configurations of redundant (multiple) MEMS-IMU swarms, which increase the level of accuracy to potentially the order of that of a tactical IMU. Several configurations are presented and compared through different methods.
    Department
    Aerospace Engineering and Engineering Mechanics
    Description
    text
    Subject
    Inertial measurement unit
    Redundant configuration
    Geometrical comparison
    URI
    http://hdl.handle.net/2152/ETD-UT-2010-12-2623
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