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What is IMU

Control and Signal Processing Applications for Mobile and Aerial Robotic Systems
Inertial measurement system.
Published in Chapter:
Application of the Principle of Rational Approximations for Measuring Dynamic Frequency Values Generated by an IMU
Fabian N. Murrieta-Rico (Universidad Autónoma de Baja California, Mexico), Vitalii Petranovskii (Universidad Nacional Autónoma de Mexico, Mexico), Juan de Dios Sanchez-Lopez (Universidad Autónoma de Baja California, Mexico), Juan Ivan Nieto-Hipolito (Universidad Autónoma de Baja California, Mexico), Mabel Vazquez-Briseño (Universidad Autónoma de Baja California, Mexico), Joel Antúnez-García (Universidad Nacional Autónoma de Mexico, Mexico), Rosario I. Yocupicio-Gaxiola (Universidad Nacional Autónoma de Mexico, Mexico), and Vera Tyrsa (Universidad Autónoma de Baja California, Mexico)
DOI: 10.4018/978-1-5225-9924-1.ch002
Abstract
In most aerial vehicles, accurate information about critical parameters like position, velocity, and altitude is critical. In these systems, such information is acquired through an inertial measurement unit. Parameters like acceleration, velocity, and position are obtained after processing data from sensors; some of them are the accelerometers. In this case, the signal generated by the accelerometer has a frequency that depends from the acceleration experienced by the sensor. Since the time available for frequency estimation is critical in an aerial device, the frequency measurement algorithm is critical. This chapter proposes the principle of rational approximations for measuring the frequency from accelerometer-generated signals. In addition, the effect of different measurement parameters is shown, discussed, and evaluated.
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