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Gyroless Ball: Estimation Of Angular Velocity Without Gyroscope

Abstract : In [MP15a, MP15b], an algorithm is proposed to estimate the angular velocity of a rigid body using only vector measurements (i.e. measurements of unknown but constant directions). The cases of a single and two vectors measurements have been addressed using similarly structured state-observers. In this note, we report experiments conducted on one such rigid body, here a wood ball, which is equipped with a smartphone. The direction sensors of the smartphone (magnetometer and accelerometer) are used in the algorithm and the angular rate estimate is compared against the readings from the smartphone gyro. Although neither the magnetic field nor the field sensed by the accelerometer are constant, the estimation algorithm works well. The experiments were conducted on August 26th, 2015 and have been presented at the Congr es Français de Mécanique 2015. A video can be found on YouTube:
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Contributor : François Chaplais <>
Submitted on : Monday, December 7, 2015 - 4:59:23 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM
Long-term archiving on: : Tuesday, March 8, 2016 - 4:26:55 PM


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  • HAL Id : hal-01239374, version 1


L Magnis, Nicolas Petit. Gyroless Ball: Estimation Of Angular Velocity Without Gyroscope. [Research Report] MINES ParisTech. 2015. ⟨hal-01239374⟩



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