An ω-free gyro-free Accelerometer Pair Algorithm for 2D Trajectory Reconstruction

In general, a two-dimensional (2D) moving trajectory can be reconstructed using data collected from a 6-axis IMU (inertial measurement unit), which consists of a 3-axis gyroscope and a 3-axis accelerometer. Since the power consumption of a gyroscope is significantly larger than that of an accelerometer, to be energy-efficient, it is more preferable to use two gyro-free IMUs as alternatives. The existing gyro-free trajectory reconstruction approach is an angular velocity (i.e. $\omega$ ) -based method. The design of an $\omega$ -free gyro-free approach remains as a research gap, which motivates this research work. In this paper, an $\omega$ -free accelerometer pair (OFAP) method is proposed, which can yield a lower accumulated error, has a lower power consumption, is more scalable, and can deliver the same trajectory reconstruction performance as the existing approach.