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Decoupled scalar approach for aircraft angular motion estimation using a gyro-free inertial measurement unit
, Article Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME ; Volume 141, Issue 12 , 2019 ; 00220434 (ISSN) ; Saghafi, F ; Sharif University of Technology
American Society of Mechanical Engineers (ASME)
2019
Abstract
In-flight aircraft angular motion estimation based on an all-accelerometers inertial measurement unit (IMU) is investigated in this study. The relative acceleration equation as the representative of a rigid-body kinematics is manipulated to present the state and measurement equations of the aircraft dynamics. A decoupled scalar form (DSF) of the system equations, as a free-singularity problem, is derived. Mathematical modeling and simulation of an aircraft dynamics, equipped with an all-accelerometers IMU, are employed to prepare measurement data. Taking into account the modeling of accelerometer error, the measurement data have been simulated as a real condition. Three extended Kalman...
A new non-linear algorithm for complete pre-flight calibration of magnetometers in the geomagnetic field domain
, Article Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering ; Volume 223, Issue 6 , 2009 , Pages 729-739 ; 09544100 (ISSN) ; Pourtakdoust, S. H ; Samani, M ; Sharif University of Technology
2009
Abstract
A new algorithm for complete pre-flight calibration of triple magnetometers is developed. The traditional approach for calibrating these sensors are based on a cumbersome procedure called 'swing' that involves levelling and rotating the vehicle containing the magnetometers through a series of known headings. Application of such a procedure is difficult and costly. Recently, new approaches have been developed to calibrate magnetometers without the need of attitude information. Such methods are used mostly for the calibration of biases and scale factors. Additionally in situations where misalignment errors are also to be estimated, they are usually modelled as errors of a non-orthogonal frame...