In this work angular velocity solutions are presented from accelerometers. Two main formulations are presented. The first is based on using multiple vector sets of accelerometers, and the second is based on using multiple single-axis accelerometers. Linear least-squares approaches are derived for both, along with error-covariance expressions for the angular velocity estimates. Nonlinear least-squares approaches are also derived for both, which also provide the Cramér–Rao lower bound as a byproduct. All approaches have a sign ambiguity in the angular velocity solutions, which is resolved using a simple linear Kalman filter. Simulation results are shown to compare the formulations, along with the linear and nonlinear least-squares solutions.

在这项工作中，角速度解决方案来自加速度计。介绍了两种主要配方。第一种是基于使用多个向量组的加速度计，第二种是基于使用多个单轴加速度计。两者都导出了线性最小二乘法，以及角速度估计的误差协方差表达式。非线性最小二乘法也适用于这两种方法，这也提供了作为副产品的 Cramér-Rao 下限。所有方法在角速度解中都存在符号模糊性，这可以使用简单的线性卡尔曼滤波器来解决。显示仿真结果以比较公式以及线性和非线性最小二乘解。