Angular Velocity Estimation in Asymmetric IMU Array

This paper is primarily dedicated to the methodology for angular velocity estimation. Initially, a specific force equation is formulated utilizing an accelerometer to establish the relationship between a single Inertial Measurement Unit (IMU) and the centroid of the asymmetric array frame. Within this framework, a Bias-Estimation Extended Kalman Filter (EKF) method is employed to enhance the precision of angular velocity estimation. Additionally, the estimation of acceleration and angular acceleration is integrated to refine orientation within the Kalman filtering process. Moreover, to simulate the presence of IMU noise, the accelerometers' biases are estimated and treated as time-varying variables rather than fixed constants. A simulation study is conducted to demonstrate the validity and efficacy of the proposed angular velocity estimation methodologies.