Evaluation of position estimation based on accelerometer data

The paper concerns the problem of integrating data from accelerometers. A suitable model of a MEMS accelerometer is presented which is a part of inertial measurement units (IMU). Such units allow to measure orientation as well as to localize systems. They also appear to be applicable for systems positioning. The main purpose of the paper is to discuss conditions that must be satisfied to calculate the location of the sensor by means of the double integration of acceleration. The model takes into account static and dynamic settings as well as the features of low-cost MEMS accelerometers. Much attention is devoted to the impact the practical motion signals from the sensor have on the desired output of integration, and simulation results emphasize the problem of determining the `true' linear acceleration from accelerometer measurements.