By Topic

An Accelerometer Configuration for Reference-Frame-Independent Linear-State Estimation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Folk, B.G. ; Mech. Eng. Dept., Univ. of Idaho, Moscow, ID, USA ; Wolbrecht, E.T.

This paper presents a novel three single-axis accelerometer configuration for measuring relative acceleration in a moving reference frame without knowledge of motion or orientation of the moving frame itself. Also presented is an extended Kalman filter (EKF) that combines this relative acceleration measurement with a linear-position measurement for state estimation. The motivation for this approach is the need for high-quality linear-state estimation in pneumatic cylinder control, but potential applications of this approach are much broader, including mobile robots and general relative linear-state sensing. When applied to a pneumatic cylinder, this method eliminates the need for kinematic knowledge of the cylinder base and allows state estimation to be implemented at the cylinder level without regard to the external motion of the robot. Experimental tests were performed to compare the presented reference-frame-independent EKF method to a standard kinematically dependent end-effector EKF. When kinematic knowledge of the end effector is known, both standard and presented methods perform well as expected. However, removing kinematic knowledge of the local reference frame adversely affects the performance of a standard kinematically dependent EKF, but does not affect the performance of the presented method as it does not depend on such global kinematic knowledge. Experimental results also show that the addition of a direct relative velocity measurement does not significantly improve performance over the presented method.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:16 ,  Issue: 6 )