کد مقاله کد نشریه سال انتشار مقاله انگلیسی ترجمه فارسی نسخه تمام متن
6953677 1451821 2019 8 صفحه PDF سفارش دهید دانلود کنید
عنوان انگلیسی مقاله ISI
Sensor fusion and rotational motion reconstruction via nonlinear state-observers
ترجمه فارسی عنوان
همجوشی سنسور و بازسازی حرکت چرخشی از طریق مشاهدات دولت غیرخطی
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر پردازش سیگنال
چکیده انگلیسی
Despite the ease to instrument and record body accelerations and angular velocities of a body moving in space, the reconstruction from these measurements of rotational displacement is not a trivial task. Given that these quantities need to be integrated in order to define a displacement quantity the noise present in those signal can significantly disturb the results and limit the deployment of the technique in industrial applications, moreover the nonlinear kinematics that constrains the problem can be a challenge to the commonly used noise filtering techniques, such as linear state-estimators (Kalman filter). This paper aims to elaborate on the topic, by providing a concise formulation to the problem under rigid-body body assumptions and explore the use of nonlinear state-estimators to address the conditioning of the measured data, data fusion and reconstruction of the body motion. A comparison is drawn between an extended linear approach (EKF) and the proposed methodology, paying particular attention to the conditions that affect the performance of both methodologies. The paper compares results from numerical experiments using to better illustrate the differences between methodologies.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanical Systems and Signal Processing - Volume 114, 1 January 2019, Pages 571-578
نویسندگان
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