Passive attitude estimation using gyroscopes and all-accelerometer IMU

In this paper, a novel approach to estimate a vehicle attitude using gyroscopes and an array of linear tri-axial accelerometers arranged in a certain configuration is presented. This configuration provides direct angular acceleration measurements that will be of great value once the quaternion dynamical equation is solved using Unscented Kalman filter. Various new states and measurements models based on the rotational quaternion are presented. Using this approach, estimating the attitude of a vehicle using linear accelerometers along with gyroscopes enables a completely passive attitude estimation under the simultaneous actions of vehicle varying center of gravity position, unknown varying gravitational field, and an accelerating vehicle without any singularity being involved in the states or measurements models which were not reported in the related literature to the best of authors' knowledge.