Distributed Accelerometer IMU-2: An Interim Development Report
This report details the development of DAIMU-2, a MEMS accelerometer-based Gyro-Free Inertial Measurement Unit (GF-IMU). Previously, a GF-IMU called the Distributed Accelerometer IMU (DAIMU) was developed at LLNL using traditional analog accelerometers. This project leverages the experience gained from DAIMU and recent advances in sensor and embedded systems technology to develop DAIMU-2. The report introduces the theory and mathematics of a GF-IMU, followed by the design of an Unscented Kalman Filter (UKF) and simulation results. Finally, the DAIMU-2 prototypes developed to date are presented. After approximately one year of development work, the project was suspended, to be resumed in the future. Because of this, some efforts were partially completed, and this report attempts to indicate areas where further work is needed. MATLAB files, drawings, and other design documents have been archived for future project resumption.