Optimal Wiener Filter for a Body Mounted Inertial Attitude Sensor

2008 ◽  
Vol 61 (3) ◽  
pp. 455-472 ◽  
Author(s):  
Peter Rizun

An optimal attitude estimator is presented for a human body-mounted inertial measurement unit employing orthogonal triads of gyroscopes, accelerometers and magnetometers. The estimator continuously fuses gyroscope and accelerometer measurements together in a manner that minimizes the mean square error in the estimate of the gravity vector, based on known spectral characteristics for the gyroscope noise and the linear acceleration of points on the human body. The gyroscope noise is modelled as a white noise process of power spectral density δn2/2 while the linear acceleration is modelled as the derivative of a band-limited white noise process of power spectral density δv2/2. The estimator is robust to centripetal acceleration and guaranteed to have zero mean error regardless of the motion of the sensor. The mean square angular error in attitude is shown to be independent of the module's angular velocity and equal to 21/2g−1/2δn3/2δv1/2.

2012 ◽  
Vol 51 (1R) ◽  
pp. 018002
Author(s):  
Ken-ichi Watabe ◽  
Shinya Yanagimachi ◽  
Takeshi Ikegami ◽  
Hitoshi Iida ◽  
Yozo Shimada

1994 ◽  
Vol 104 (5) ◽  
pp. 857-883 ◽  
Author(s):  
A H Hainsworth ◽  
R A Levis ◽  
R S Eisenberg

Open-channel noise was studied in the large potassium channel of the sarcoplasmic reticulum (SR). Inside-out patches were excised directly from the SR of split skeletal muscle fibers of lobster, with lobster relaxing ringer (LRR) in bath and pipette. The power spectrum of open-channel noise is very low and approximately flat in the 100 Hz-10 kHz frequency range. At 20 degrees C, with an applied voltage of 50 mV, the mean single-channel current (i) is 9 pA (mean single-channel conductance = 180 pS) and the mean power spectral density 1.1 x 10(-29) A2/Hz. The latter increases nonlinearly with (i), showing a progressively steeper dependence as (i) increases. At 20 mV, the mean power spectral density is almost independent of (i) and approximately 1.4 times that of the Johnson noise calculated for the equivalent ideal resistor with zero net current; at 70 mV it increases approximately in proportion to (i)2. The mean power spectral density has a weak temperature dependence, very similar to that of (i), and both are well described by a Q10 of 1.3 throughout the range 3-40 degrees C. Discrete ion transport events are thought to account for a significant fraction of the measured open-channel noise, probably approximately 30-50% at 50 mV. Brief interruptions of the single-channel current, due either to blockage of the open channel by an extrinsic aqueous species, or to intrinsic conformational changes in the channel molecule itself, were a possible additional source of open-channel noise. Experiments in modified bathing solutions indicate, however, that open-channel noise is not affected by any of the identified aqueous species present in LRR. In particular, magnesium ions, the species thought most likely to cause brief blockages, and calcium and hydrogen ions, have no detectable effect. This channel's openings exhibit many brief closings and substrates, due to intrinsic gating of the channel. Unresolved brief full closings are calculated to make a negligible contribution (< 1%) to the measured power spectral density. The only significant source of noise due to band width-limited missed events is brief, frequent 80% substrates (mean duration 20 microseconds, mean frequency 1,000 s-1) which account for a small part of the measured power spectral density (approximately 14%, at 50 mV, 20 degrees C). We conclude that a large fraction of the measured open-channel noise results from intrinsic conductance fluctuations, with a corner frequency higher than the resolution of our recordings, in the range 10(4)-10(7) Hz.(ABSTRACT TRUNCATED AT 400 WORDS)


2011 ◽  
Vol 51 (1) ◽  
pp. 018002 ◽  
Author(s):  
Ken-ichi Watabe ◽  
Shinya Yanagimachi ◽  
Takeshi Ikegami ◽  
Hitoshi Iida ◽  
Yozo Shimada

2020 ◽  
pp. 147-154
Author(s):  
Lijuan Wang ◽  
Jianguo Yan ◽  
Shengshi Xie ◽  
Chunguang Wang

Measuring and analysing the roughness of agricultural field and road have great significance for studying the characteristics of tractor dynamic response. This study was designed to analyse and compare the roughness characteristics of agricultural field and asphalt road profiles. A profiling apparatus was developed to measure field and road surface profiles of parallel tracks. The profile measurements were conducted in a grass field, a corn stubble field, a harvested potato field and on an asphalt road. The root mean square value and two spectrum parameters of surface profiles were calculated and analysed to investigate the roughness characteristics of fields and asphalt road. The results of the study indicate that for the values of the agricultural field and asphalt road surface roughness, waviness and roughness index are both positive associated with the root mean square value. Most of the waviness values of all measured field profiles were less than 2 with the average of 1.8, while the waviness values of all measured asphalt road profiles were greater than 2 with the average of 2.08. The roughness of both field and asphalt road profiles can be distinguished by the power spectral density fitting method. However, it has better performance in characterizing asphalt road profiles than characterizing field profiles with the power spectral density fitting method.


2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Silvio Sorrentino

In this study, simple and manageable closed form expressions are obtained for the mean value, the spectral density function, and the standard deviation of the deflection induced by stochastic moving loads on bridge-like structures. As a basic case, a simply supported beam is considered, loaded by a sequence of concentrated forces moving in the same direction, with random instants of arrival, constant random crossing speeds, and constant random amplitudes. The loads are described by three stochastic processes, representing an idealization of vehicular traffic on a bridge in case of negligible inertial coupling effects between moving masses and structure. System’s responses are analytically determined in terms of mean values and power spectral density functions, yielding standard deviations, with the possibility to easily extend the results to more refined models of single span bridge-like structures. Potential applications regard structural analysis, vibration control, and condition monitoring of traffic excited bridges.


1970 ◽  
Vol 60 (3) ◽  
pp. 891-900 ◽  
Author(s):  
S. C. Liu

Abstract This paper presents the evolutionary (time-dependent) power spectral density curves of six strong-motion earthquakes. The earthquake accelerograms are treated as piecewise-separable and the frequency-independent modulating function is estimated by applying the mean square minimization criterion. The results show that, as the time increases, the power spectral densities of earthquakes can vary both in magnitude and in peak location over the frequency axis. The analysis demonstrates that the nonstationary characteristics of earthquakes can be reasonably assessed by a simple computation procedure and the information thus obtained can be helpful in developing improved stochastic models for earthquake simulation.


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