Low uncertainty method for inertia tensor identification

The uncertainty associated with the experimental identification of the inertia tensor can be reduced by implementing adequate rotational and translational motions in the experiment. This paper proposes a particular 3D trajectory that improves the experimental measurement of the inertia tensor of rigid bodies. Such a trajectory corresponds to a motion in which the object is rotated around a large number of instantaneous axes, while the center of gravity remains static. The uncertainty in the inertia tensor components obtained with this practice is reduced by 45% in average, compared with those calculated using simple rotations around three perpendicular axes (Roll, Pitch, Yaw).