In-Flight Estimation of Center of Gravity Position Using All-Accelerometers
نویسندگان
چکیده
Changing the position of the Center of Gravity (CoG) for an aerial vehicle is a challenging part in navigation, and control of such vehicles. In this paper, an all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG. The accelerometers' readings are used to find and correct the vehicle's angular velocity and acceleration using an Extended Kalman Filter. Next, the accelerometers' readings along with the estimated angular velocity and acceleration are used in an identification scheme to estimate the position of the CoG and the vehicle's linear acceleration. The estimated position of the CoG and motion measurements can then be used to update the control rules to achieve better trim conditions for the air vehicle.
منابع مشابه
Review and Comparison of In-field Calibration Methods of Accelerometer Based on Gravity Vector
Considering the wide applications of accelerometers to determine position and attitude and due to reducing of accuracy of this sensors because of some errors, this paper discusses the calibration of accelerometers. Also because the traditional calibration methods are very time consuming, costly and need precision laboratory equipment, in-field calibration methods are recommended which are simpl...
متن کاملLocation and dimensionality estimation of geological bodies using eigenvectors of "Computed Gravity Gradient Tensor"
One of the methodologies employed in gravimetry exploration is eigenvector analysis of Gravity Gradient Tensor (GGT) which yields a solution including an estimation of a causative body’s Center of Mass (COM), dimensionality and strike direction. The eigenvectors of GGT give very rewarding clues about COM and strike direction. Additionally, the relationships between its components provide a quan...
متن کاملDepth estimation of gravity anomalies by S-transform of analytic signal
The S-transform has widely been used in the analysis of non-stationary time series. A simple method to obtain depth estimates of gravity field sources is introduced in this study. We have developed a new method based on the spectral characteristics of downward continuation to estimate depth of structures. This calculation procedure is based on replacement of the Fourier transform with the S-Tra...
متن کاملApproximate Solution of Sensitivity Matrix of Required Velocity Using Piecewise Linear Gravity Assumption
In this paper, an approximate solution of sensitivity matrix of required velocity with final velocity constraint is derived using a piecewise linear gravity assumption. The total flight time is also fixed for the problem. Simulation results show the accuracy of the method. Increasing the midway points for linearization, increases the accuracy of the solution, which this, in turn, depends on the...
متن کاملAn Ahrs Based on a Kalman Filter for the Integration of Inertial, Magnetometric and Gps Data
The paper describes an Attitude & Heading Reference System able to achieve a high accuracy level by using a Kalman filter, which integrates the measurements coming from low cost inertial sensors, magnetometric sensors and a GPS receiver. The errors correction on attitude and heading angles, calculated through the integration of the gyroscopes measurements, is performed on the basis of their alt...
متن کامل