Angular acceleration measurement: a review

Ovaska, S.J.; Väliviita, S.

doi:10.1109/imtc.1998.676850

Cited by 34 publications

(24 citation statements)

References 17 publications

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“…This work is concerned with calibrating a sensor suite comprising one or multiple IMUs and one or multiple extero- 1 There exist different approaches for measuring angular accelerations, a not so recent review of which is provided in [3]. More recently, consumer grade MEMS angular acceleration sensors have been announced [4].…”

Section: Related Workmentioning

confidence: 99%

Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes

Rehder

Nikolic

Schneider

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

295

151

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An increasing number of robotic systems feature multiple inertial measurement units (IMUs). Due to competing objectives-either desired vicinity to the center of gravity when used in controls, or an unobstructed field of view when integrated in a sensor setup with an exteroceptive sensor for ego-motion estimation-individual IMUs are often mounted at considerable distance. As a result, they sense different accelerations when the platform is subjected to rotational motions. In this work, we derive a method for spatially calibrating multiple IMUs in a single estimator based on the open-source camera/IMU calibration toolbox kalibr. We further extend the toolbox to determine IMU intrinsics, enabling accurate calibration of low-cost IMUs. The results suggest that the extended estimator is capable of precisely determining these intrinsics and even of localizing individual accelerometer axes inside a commercial grade IMU to millimeter precision.

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Section: Related Workmentioning

confidence: 99%

Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes

Rehder

Nikolic

Schneider

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

295

151

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“…The third method allows the angular velocity to change at a linear rate when looking into the future. The angular acceleration is estimated from the change in gyro data (this is a difficult problem in general [15], but works well in our setting).…”

Section: Interval 3) Constant Acceleration: Estimate Angular Accelermentioning

confidence: 99%

Head tracking for the Oculus Rift

LaValle¹,

Yershova

Katsev

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

173

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We present methods for efficiently maintaining human head orientation using low-cost MEMS sensors. We particularly address gyroscope integration and compensation of dead reckoning errors using gravity and magnetic fields. Although these problems have been well-studied, our performance criteria are particularly tuned to optimize user experience while tracking head movement in the Oculus Rift Development Kit, which is the most widely used virtual reality headset to date. We also present novel predictive tracking methods that dramatically reduce effective latency (time lag), which further improves the user experience. Experimental results are shown, along with ongoing research on positional tracking.

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“…The development of indirect measuring methods of angular acceleration has its roots in the late sixties. Although the angular acceleration can be measured indirectly using a rotary velocity sensor, the noise amplification problem related to the difference process has motivated the efforts to develop transducers for direct measuring of angular acceleration [8], [9]. The various mechanical angular acceleration sensors [10], [11], [12] had been developed steadily over the past fifties years.…”

Section: Introductionmentioning

confidence: 99%

Pendulum Micromechanical Angular Accelerometer with Force Feedback

Fang

Wei

2007

2007 International Conference on Mechatronics and Automation

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This paper bring forward a kind of pendulum micromechanical angular accelerometer with force feedback, which might be proposed by us, first. The sensor adopts a pendulum with mass joined to the anchors by a pair torsionspring beams as sensing device, differential-capacitor device for detecting the angular acceleration about the X axis, an electrostatic force device for feedback loop. The sensor's structure and basic operating principle were discussed. The theoretical relation of angular acceleration and output of sensor was derived in detail based on the geometrical and dynamical models. The simulation result shows that the scale factor of sensor is s r V / / 3889 . 0 and verifies the accuracy of the theories model. It can be used in robust motor control of industrial robots and aerocraft.

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Angular acceleration measurement: a review

Cited by 34 publications

References 17 publications

Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes

Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes

Head tracking for the Oculus Rift

Pendulum Micromechanical Angular Accelerometer with Force Feedback

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