We propose a partial GF system that improves positioning performance compared to a conventional GFIMU (Gyro Free Inertial Measurement Unit).
We examined different configurations in three different ways: quality factors, simulation analysis and a field experiment.
A land robot has only 3 degrees of freedom, hence there is redundancy in our GFINS system which allows us to use less accelerometers in a partial GFINS configuration.
Twelve accelerometers. Nine are arranged in threes on a circle with radius d. Another three is on the z axis at distance d from the origin
The figure above describes the redundant configuration which was mounted on the robot. Later on we used only the relevant accelerations in order to calculate the partial GFIMU.
