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7 votes

Term disambiguation: acceleration with/without gravity

But a free-falling accelerometer in a gravitational field will read a nice round zero. That is the case for an ideal accelerometer. Real accelerometers have biases, scale factor errors, and all kinds ...
David Hammen's user avatar
7 votes
Accepted

Term disambiguation: acceleration with/without gravity

The terminology are (from Wikipedia) Proper acceleration (force per unit mass(?); happens to have units of m/s^2) co-ordinate acceleration (second derivative of position vector co-ordinates; has ...
AJN's user avatar
  • 1,030
2 votes

Term disambiguation: acceleration with/without gravity

The acceleration reading when gravity is ignored = acceleration in the reference frame of the falling accelerometer when gravity is accounted for = acceleration in the frame of the Earth Optionally,...
Puffin's user avatar
  • 9,654
2 votes

How to calculate initial Rotation Matrix/ Euler Angles/ Quaternion for IMU data (gyroscope and accelerometer)?

I'm interpreting this question as- how to set an initial attitude (t=0), changes in which can then be tracked when the sensor readings start pouring in. As Tristan's comment mentions, you could just ...
pathfinder_EOS's user avatar
2 votes
Accepted

Compensating for rotation when accelerometer not at center of mass?

Yes, you need to estimate the position of the vehicle's center of mass, along with its mass and inertia tensor. These may or may not be part of your Kalman filter estimated state. There's no clear ...
David Hammen's user avatar
1 vote
Accepted

Space shuttle position and velocity calculations from IMUs?

Mostly I'll treat this as a reference-request since the topic is lengthy. But you are correct, it's all there in publicly available documents. Summary Ascent: The three IMUs are calibrated and ...
Organic Marble's user avatar
1 vote
Accepted

Correcting Accelerometer Readings when Offset from Center of Mass: How?

This answer on the Physics sit seems to sum up the maths pretty well: With the accelerometer A and the center of mass C we have $\vec{c} > = \vec{r}_C - \vec{r}_A$. $$ \vec{a}_C = \vec{a}_A + \dot{...
Freddie R's user avatar
  • 2,544

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