Accelerometer-based tilt estimation of a rigid body with only rotational degrees of freedom

  title={Accelerometer-based tilt estimation of a rigid body with only rotational degrees of freedom},
  author={Sebastian Trimpe and Raffaello D'Andrea},
  journal={2010 IEEE International Conference on Robotics and Automation},
An estimation algorithm is developed for determining pitch and roll angles (tilt) of a rigid body fixed at a pivot point using multiple accelerometers. The estimate is independent of the rigid body dynamics; the method is applicable both in static conditions and for any dynamic motion of the body. No dynamic model is required for the estimator; only the mounting positions of the sensors need to be known. The proposed estimator is the optimal linear estimate in a least-squares sense if knowledge… CONTINUE READING
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