Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters
Inertia properties of rigid body such as ground, aerial, and space vehicles may be changed by several occasions, and this variation of the properties influences the control accuracy of the rigid body. For this reason, accurate inertia properties need to be obtained for precise control. An estimation...
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2016/2962671 |
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doaj-4698a03c729649738c16fe10b7eb00052020-11-24T22:27:34ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472016-01-01201610.1155/2016/29626712962671Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay FiltersDonghoon Kim0Sungwook Yang1Sangchul Lee2LG Electronics, Seoul 08592, Republic of KoreaKorea Aerospace University, Goyang 10540, Republic of KoreaKorea Aerospace University, Goyang 10540, Republic of KoreaInertia properties of rigid body such as ground, aerial, and space vehicles may be changed by several occasions, and this variation of the properties influences the control accuracy of the rigid body. For this reason, accurate inertia properties need to be obtained for precise control. An estimation process is required for both noisy gyro measurements and the time derivative of the gyro measurements. In this paper, an estimation method is proposed for having reliable estimates of inertia properties. First, the Euler equations of motion are reformulated to obtain a regressor matrix. Next, the extended Kalman filter is adopted to reduce the noise effects in gyro angular velocity measurements. Last, the inertia properties are estimated using linear least squares. To achieve reliable and accurate angular accelerations, a Savitzky-Golay filter based on an even number sampled data is utilized. Numerical examples are presented to demonstrate the performance of the proposed algorithm for the case of a space vehicle. The numerical simulation results show that the proposed algorithm provides accurate inertia property estimates in the presence of noisy measurements.http://dx.doi.org/10.1155/2016/2962671 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Donghoon Kim Sungwook Yang Sangchul Lee |
spellingShingle |
Donghoon Kim Sungwook Yang Sangchul Lee Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters Mathematical Problems in Engineering |
author_facet |
Donghoon Kim Sungwook Yang Sangchul Lee |
author_sort |
Donghoon Kim |
title |
Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters |
title_short |
Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters |
title_full |
Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters |
title_fullStr |
Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters |
title_full_unstemmed |
Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters |
title_sort |
rigid body inertia estimation using extended kalman and savitzky-golay filters |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2016-01-01 |
description |
Inertia properties of rigid body such as ground, aerial, and space vehicles may be changed by several occasions, and this variation of the properties influences the control accuracy of the rigid body. For this reason, accurate inertia properties need to be obtained for precise control. An estimation process is required for both noisy gyro measurements and the time derivative of the gyro measurements. In this paper, an estimation method is proposed for having reliable estimates of inertia properties. First, the Euler equations of motion are reformulated to obtain a regressor matrix. Next, the extended Kalman filter is adopted to reduce the noise effects in gyro angular velocity measurements. Last, the inertia properties are estimated using linear least squares. To achieve reliable and accurate angular accelerations, a Savitzky-Golay filter based on an even number sampled data is utilized. Numerical examples are presented to demonstrate the performance of the proposed algorithm for the case of a space vehicle. The numerical simulation results show that the proposed algorithm provides accurate inertia property estimates in the presence of noisy measurements. |
url |
http://dx.doi.org/10.1155/2016/2962671 |
work_keys_str_mv |
AT donghoonkim rigidbodyinertiaestimationusingextendedkalmanandsavitzkygolayfilters AT sungwookyang rigidbodyinertiaestimationusingextendedkalmanandsavitzkygolayfilters AT sangchullee rigidbodyinertiaestimationusingextendedkalmanandsavitzkygolayfilters |
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1725749357354942464 |