Constrained Angular Motion Estimation in a Gyro-Free IMU
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Bibliographic record
Abstract
In this paper, we present an extended Kalman filter (EKF)-based solution for the estimation of the angular motion using a gyro-free inertial measurement unit (GF-IMU) built of twelve separate mono-axial accelerometers. Using such a GF-IMU produces a vector, which we call the angular information vector (AIV) that consists of 3D angular acceleration terms and six quadratic terms of angular velocities. We consider the multiple distributed orthogonal triads of accelerometers that consist of three nonplanar distributed triads equally spaced from a central triad as a specific case to solve. During research for the possible filter schemes, we derived equality constraints. Hence we incorporate the constraints in the filter to improve the accuracy of the angular motion estimation, which in turn improves the attitude accuracy (direction cosine matrix (DCM) or quaternion vector).
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it