Research on angular velocity algorithm for GF-IMU

A nine-accelerometers configuration scheme and its corresponding angular velocity algorithm were proposed based on the principle description of gyroscope-free inertial measurement unit (GF-IMU). The angular velocity algorithm just mentioned improves the angular velocity calculation precision in a certain extent, because of it calculating directly the absolute value of the angular velocity measured using the measurement information of accelerometers. Although there is not the iterative error resulted from integral, this algorithm needs determine the square root and sign. An angular velocity algebraic algorithm was investigated to avoid the extraction calculation and the sign mistake. The algebraic algorithm reduces the calculation burden and raises the system precision and real time.