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This paper investigates the problem of nonlinear state estimation for control moment gyroscope (CMG) inverted pendulum. The dynamics of CMG inverted pendulum result into stiff nonlinearities and are included here. Both Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) algorithms are utilized for state estimation to investigate their effectiveness. The computer simulations are included...
The naval gun is a traditional navy weapon, which takes warship as the carrier. In modern naval ships, the small and medium caliber naval guns, which have quick response and high launch rate, is the main attack weapons in naval vessels. The level degree of the naval gun platform has a great influence on the launch accuracy. This paper mainly studied a platform angle dynamic measurement system based...
In this paper, a low-cost attitude estimation system is introduced. The system is developed with MEMS sensors including rate gyros and accelerometers. Composition and principle of the system are described. The rigid body kinematics is modeled with quaternion, such that eliminates attitude estimation singularities. The real-time Kalman filter is designed. Experiments were conducted in both static and...
In the paper a newly developed fuzzy adaptive Kalman filter (FAKF) algorithm is presented which is applied in miniature attitude and heading reference system (AHRS) based on MIMU/magnetometers. The method is to deal with time variable statistic of measurement noise in different working conditions. By monitoring the innovation of sensors data in realtime, the Kalman filter tunes the measurement noise...
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