This paper identifies the minimum number of accelerometers necessary to measure rigid body acceleration. Notwithstanding that only 9 scalar unknowns must be identified, 12 devices compose a minimum set of transducers. This redundancy is necessary to avoid singularities in the equations. Conditions for the sensor placement are given. It is also shown that when the determination of the angular velocity is not required, a reduced set of 9 sensors can be adopted.
On the Number and Placement of Accelerometers for Angular Velocity and Acceleration Determination
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript received by the Dynamics Systems and Control Division March 11, 2000. Associate Editor: E. Fahrenthold.
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Zappa , B., Legnani , G., van den Bogert , A. J., and Adamini , R. (March 11, 2000). "On the Number and Placement of Accelerometers for Angular Velocity and Acceleration Determination ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 552–554. https://doi.org/10.1115/1.1386649
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