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State Estimation Filtering Algorithm...

Rochester Institute of Technology.

State Estimation Filtering Algorithms for Vehicle Attitude Determination using a Dual-Arc Accelerometer Array and 3-Axis Rate Gyroscopes.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	State Estimation Filtering Algorithms for Vehicle Attitude Determination using a Dual-Arc Accelerometer Array and 3-Axis Rate Gyroscopes./
作者:	Zimmerman, Aaron.
面頁冊數:	263 p.
附註:	Source: Masters Abstracts International, Volume: 50-01, page: 0606.
Contained By:	Masters Abstracts International50-01.
標題:	Engineering, Aerospace. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1498195
ISBN:	9781124846705

State Estimation Filtering Algorithms for Vehicle Attitude Determination using a Dual-Arc Accelerometer Array and 3-Axis Rate Gyroscopes.
Zimmerman, Aaron.

State Estimation Filtering Algorithms for Vehicle Attitude Determination using a Dual-Arc Accelerometer Array and 3-Axis Rate Gyroscopes. - 263 p.

Source: Masters Abstracts International, Volume: 50-01, page: 0606.

Thesis (M.S.)--Rochester Institute of Technology, 2011.

Sensor measurements are corrupted by biases, noise and drift effects and, in order to provide accurate measurements, these errors need to be estimated and, thus, eliminated. The current model used an Extended Kalman filter for the estimation of rate gyroscope measurement errors. This work improves upon that filter by applying a more robust, more accurate and more reliable Unscented Kalman filter. In addition, an algorithm for estimating the accelerometer measurement errors is developed using control theory. Using the attitude estimate from the Unscented Kalman filter, an error signal is formed between that attitude and the attitude estimates from the accelerometer array(s). This error signal is then reduced by implementation of an innovative method using PID controllers to estimate, and reduce the effects of, accelerometer measurement errors. While this thesis uses a previously developed device and equations, it is a departure from the previous works as it considers parameters and variables that were ignored in those studies.

ISBN: 9781124846705Subjects--Topical Terms:

845476
Engineering, Aerospace.

State Estimation Filtering Algorithms for Vehicle Attitude Determination using a Dual-Arc Accelerometer Array and 3-Axis Rate Gyroscopes.
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035 $a (UMI)AAI1498195
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040 $a UMI $c UMI
100 1 $a Zimmerman, Aaron. $3 845646
245 1 0 $a State Estimation Filtering Algorithms for Vehicle Attitude Determination using a Dual-Arc Accelerometer Array and 3-Axis Rate Gyroscopes.
300 $a 263 p.
500 $a Source: Masters Abstracts International, Volume: 50-01, page: 0606.
500 $a Adviser: Agamemnon Crassidis.
502 $a Thesis (M.S.)--Rochester Institute of Technology, 2011.
520 $a Sensor measurements are corrupted by biases, noise and drift effects and, in order to provide accurate measurements, these errors need to be estimated and, thus, eliminated. The current model used an Extended Kalman filter for the estimation of rate gyroscope measurement errors. This work improves upon that filter by applying a more robust, more accurate and more reliable Unscented Kalman filter. In addition, an algorithm for estimating the accelerometer measurement errors is developed using control theory. Using the attitude estimate from the Unscented Kalman filter, an error signal is formed between that attitude and the attitude estimates from the accelerometer array(s). This error signal is then reduced by implementation of an innovative method using PID controllers to estimate, and reduce the effects of, accelerometer measurement errors. While this thesis uses a previously developed device and equations, it is a departure from the previous works as it considers parameters and variables that were ignored in those studies.
590 $a School code: 0465.
650 4 $a Engineering, Aerospace. $3 845476
650 4 $a Engineering, Mechanical. $3 845387
690 $a 0538
690 $a 0548
710 2 $a Rochester Institute of Technology. $b Mechanical Engineering. $3 845633
773 0 $t Masters Abstracts International $g 50-01.
790 1 0 $a Crassidis, Agamemnon, $e advisor
790 1 0 $a Kolodziej, Jason $e committee member
790 1 0 $a Kempski, Mark $e committee member
790 $a 0465
791 $a M.S.
792 $a 2011
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1498195

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