Documente Academic
Documente Profesional
Documente Cultură
Fall 2004
16.333 152
Fall 2004
16.333 153
Fall 2004
16.333 154
Fall 2004
16.333 155
Fall 2004
16.333 156
Fall 2004
16.333 157
Polariser
Fringe Pattern
Fall 2004
16.333 1511
Fall 2004
16.333 158
Fall 2004
16.333 159
s , for example s + 1
(angular rate) dt
- not good in long term due to integration
est
sin 1
accel. output g
Low Pass Filter
1 = s + 1
V r g
CF setup
1 s
V g
LPF
AX = g sin AZ = g cos
= tan 1
Ax Az
AX , AZ accelerometer outputs
qmeas
est
Ax Az
1 s
HPF
+ +
est
est
LPF
HPF
+ +
hest
hfrom GPS KF
LPF
az ay ax
h from GPS KF
Angular Transform
est , est
ah
1 s
HPF
+ +
hest
LPF
Ax , Az accelerometer outputs
Position Velocity
~ 30 m ~ 0.15 m/s
xmeas vmeas
xmeas = x + 1 vmeas = v + 2
d x= v dt d v=a dt d a= j dt d j = 1 dt
North East Down
: velocity : jerk
a est :
noisy, but not biased combined with rate gyros in removing the gyro biases (KF2)
Single-Antenna GPS Based Aircraft Attitude Determination - Richard Kornfeld, Ph.D. (1999)
1 s
V g
LPF
Drawback : sampling rate limit (GPS), typical filter time constant ~ 0.5 sec.
as g V r
Filter Dynamics
pmeas rmeas
pmeas = p + bias p + 2
d = p + 1 dt
d p =2 dt d bias p = 3 dt d biasr = 4 dt
est
pest
(as )est
from GPS Kalman Filter
g rmeas = + biasr + 3 V
a s = g + 1
(bias )
p est
(biasr )est
r : yaw rate
i , i : white noises
KF 2. Simulation Result
Simulation for 10 degree bank angle hold Roll rate gyro bias=0.03 rad/s, yaw rate gyro bias = 0.02 rad/s were used in simulation
References
Applied Optimal Estimation Edited by Arthur Gelb, MIT Press, 1974 Fundamentals of Kalman Filtering A Practical Approach Paul Zarchan & Howard Musoff, Progress in Astronautics and Aeronautics Vol. 190 Avionics and Control System Development for Mid-Air Rendezvous of Two Unmanned Aerial Vehicles Sanghyuk Park, Ph.D. Thesis, MIT, Feb. 2004 Fundamentals of High Accuracy Inertial Navigation Averil Chatfield, Progress in Astronautics and Aeronautics Vol. 174 Applied Mathematics in Integrated Navigation Systems R. Rogers, AIAA Education Series, 2000 The Impact of GPS Velocity Based Flight Control on Flight Instrumentation Architecture Richard Kornfeld, Ph.D. Thesis, MIT, Jun. 1999 Autonomous Aerobatic Maneuvering of Miniature Helicopters Valdislav Gavrilets, Ph.D. Thesis, MIT, May 2003