Estimation of angular velocity and acceleration by using 2 linear acceleration sensors

This paper presents a method to measure angular velocity with two silicon-based MEMS acceleration sensors which have the resolution of 0.08 mg. This paper proposes measurement results using the technique to compensate the alignment error and estimate an angular velocity with two acceleration sensors fabricated by sacrificial bulk micromachining (SBM) process. The technique also estimates an angular velocity of a commercial cleaning robot, which has been tried to make the unit cost of production lower, by using two acceleration sensors without using a gyroscope.