TY - GEN
T1 - Angular Velocity Estimation and Error-Covariance Analysis from Accelerometers Using Least Squares
AU - Hamley, Chris
AU - Crassidis, John L.
N1 - Publisher Copyright:
© 2022, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2022
Y1 - 2022
N2 - In this work angular velocity solutions are presented from accelerometers. Two main formulations are presented. The first is based on using multiple vector-sets of accelerometers, and the second is based on using multiple single-axis accelerometers, Linear least-squares approaches are derived for both, along with error-covariance expressions for the angular velocity estimates. Nonlinear least-squares approaches are also derived for both, which also provide the Cramér-Rao lower bound as a byproduct. Simulation results are shown to compare the formulations, along with the linear and nonlinear least-squares solutions.
AB - In this work angular velocity solutions are presented from accelerometers. Two main formulations are presented. The first is based on using multiple vector-sets of accelerometers, and the second is based on using multiple single-axis accelerometers, Linear least-squares approaches are derived for both, along with error-covariance expressions for the angular velocity estimates. Nonlinear least-squares approaches are also derived for both, which also provide the Cramér-Rao lower bound as a byproduct. Simulation results are shown to compare the formulations, along with the linear and nonlinear least-squares solutions.
UR - https://www.scopus.com/pages/publications/85123169540
U2 - 10.2514/6.2022-0615
DO - 10.2514/6.2022-0615
M3 - Conference contribution
AN - SCOPUS:85123169540
SN - 9781624106316
T3 - AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
BT - AIAA SciTech Forum 2022
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
Y2 - 3 January 2022 through 7 January 2022
ER -