RT - Journal Article
T1 - Implementation of Roll Angle and Angular Velocity Estimation Algorithm for a High-Speed Projectile Using Accelerometers Output Data
JF - joc-isice
YR - 2019
JO - joc-isice
VO - 13
IS - 2
UR - http://joc.kntu.ac.ir/article-1-573-en.html
SP - 67
EP - 80
K1 - Roll chanell
K1 - Kalman filter
K1 - Adaptive filter
K1 - MEMS-based accelerometer sensor
K1 - Data fusion.
AB - In this paper, implementation of roll angle and angular velocity estimation algorithm for a high-speed projectile using the fusion of the accelerometers output data is proposed. The reason for the use of accelerometers instead of gyros and magnetometer is the high error of the MEMS gyroscope for high speed and the low accuracy of the magnetometer due to the presence of Non-Earth magnetic fields and the effects of hard and soft iron. After expression of the proposed algorithm, the implementation process is explained. In this process, an electric motor is used to simulate the projectile roll and two accelerometers are used to measure angular velocity and acceleration. Two constant and variable velocity scenarios have been investigated in both online and offline modes. Both extended Kalman Filter and adaptive extended Kalman filter estimators have been used to estimate the rolling angular velocity. Finally, the comparison of these two methods for the rolling angular velocity and roll angle, indicates a better performance for the adaptive estimator.
LA eng
UL http://joc.kntu.ac.ir/article-1-573-en.html
M3 10.29252/joc.13.2.67
ER -