Covariance Analysis of Attitude and Angular Rate Estimation using Accelerometers
Systems and Control
2025-02-04 v1 Systems and Control
Abstract
In this work a method for using accelerometers for the determination of angular velocity and acceleration is presented. Minimum sensor requirements and insights into how an array of accelerometers can be configured to maximize estimator performance are considered. The framework presented utilizes linear least squares to estimate functions that are quadratic in angular velocity. Simple methods for determining the sign of the spin axis and the linearized covariance approximation are presented and found to perform quite effectively when compared to results obtained by Monte Carlo.
Cite
@article{arxiv.2502.00513,
title = {Covariance Analysis of Attitude and Angular Rate Estimation using Accelerometers},
author = {Koya Yamamoto and Patrick Kelly and Manoranjan Majji and Felipe Guzman},
journal= {arXiv preprint arXiv:2502.00513},
year = {2025}
}
Comments
Attitude estimation paper, 10 pages