IMU Tracking of Kinematic Chains in Microgravity Environments
核心概念
IMU body tracking can be achieved in microgravity environments without relying on gravity or magnetism, demonstrating the viability of this technology.
IMU Tracking of Kinematic Chains in the Absence of Gravitational and Magnetic Fields
統計
Dead-reckoning alone is accurate to within 1° for 30s.
The drift correction solution can correct large drifts in yaw within 4 seconds of lateral accelerations to within 3.3° RMSE.
Correction accuracy when drift-free and under motion is 1.1 ° RSME.
引用
"Gravity-based systems would not be able to compensate drift in a zero-g environment, and would drift over time to nonsense readings."
"A solution for IMU body tracking drift correction that relies on neither gravity nor magnetism is therefore needed as humanity increases its presence in space."
"We demonstrate that gyroscopic drift can be compensated for in a kinematic chain by making use of local acceleration information and often-discarded centripetal and tangential acceleration information, even in the absence of gravitational and magnetic fields."