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Proceedings Paper

Multisensor approach in linear-Gaussian estimation of 3-D angular motion
Author(s): Marcelo C. Algrain; Jafar Saniie
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Paper Abstract

This paper addresses the real-time estimation of rigid-body angular motion in 3-D space. The method obtains covariances of the 'true' 3-D angular velocity, the angular velocity measurement and the measurement noise, from the time averages of the outputs of an array of nine linear accelerometers and the outputs of three orthogonal gyroscopes. These statistics are used by the estimator to calculate the 3-D angular velocity of the rigid-body. The multisensor technique performance is evaluated through a computer simulation. The results indicate the new method leads to more accurate angular velocity values than are obtained conventionally.

Paper Details

Date Published: 1 July 1991
PDF: 10 pages
Proc. SPIE 1478, Sensors and Sensor Systems for Guidance and Navigation, (1 July 1991); doi: 10.1117/12.45636
Show Author Affiliations
Marcelo C. Algrain, Recon/Optical Inc. and Illinois Institute of Technology (United States)
Jafar Saniie, Illinois Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1478:
Sensors and Sensor Systems for Guidance and Navigation
Jack F. Wade; Avi Tuchman, Editor(s)

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