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Measuring motion with kinematically redundant accelerometer arrays: theory, simulation and implementation

Madgwick, S. O. H., Harrison, A. J. L., Sharkey, P. M., Vaidyanathan, R. and Harwin, W. S. (2013) Measuring motion with kinematically redundant accelerometer arrays: theory, simulation and implementation. Mechatronics, 23 (5). pp. 518-529. ISSN 0957-4158

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To link to this item DOI: 10.1016/j.mechatronics.2013.04.003


This work presents two schemes of measuring the linear and angular kinematics of a rigid body using a kinematically redundant array of triple-axis accelerometers with potential applications in biomechanics. A novel angular velocity estimation algorithm is proposed and evaluated that can compensate for angular velocity errors using measurements of the direction of gravity. Analysis and discussion of optimal sensor array characteristics are provided. A damped 2 axis pendulum was used to excite all 6 DoF of the a suspended accelerometer array through determined complex motion and is the basis of both simulation and experimental studies. The relationship between accuracy and sensor redundancy is investigated for arrays of up to 100 triple axis (300 accelerometer axes) accelerometers in simulation and 10 equivalent sensors (30 accelerometer axes) in the laboratory test rig. The paper also reports on the sensor calibration techniques and hardware implementation.

Item Type:Article
Divisions:Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:31540
Uncontrolled Keywords:Accelerometers; State estimation; Redundancy; Accelerometer-based IMU; Pseudoinverse methods
Publisher Statement:This is the author’s version of a work that was accepted for publication in Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in, DOI:10.1016/j.mechatronics.2013.04.003


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