Three Dimensional Attitude Estimation via the Triad Algorithm and a Time-Varying Complementary Filter

Attitude estimation is one of the core fundamentals for navigation of unmanned vehicles and other robotic systems. With the advent of low cost and low accuracy micro-electro-mechanical systems (MEMS) based inertial sensors, these devices are used ubiquitously for all such commercial grade systems that need motion information. However, these sensors suffer from time-varying bias and noise parameters, which need to be compensated during system state estimation. Complementary filtering is one of such techniques that is used here for estimating attitude of a moving vehicle. However, the complementary filter structure is dependent on user fed gain parameters, KP and KI and needs a mechanism by which they can be obtained automatically. In this paper, an attempt has been made towards addressing this issue by applying least square estimation technique on the error obtained between estimated and measured attitude angles. The proposed algorithm simplifies the design of nonlinear complementary filter by computing the filter gains automatically. The experimental investigation has been carried out over several datasets, confirming the advantage of obtaining gain parameters automatically for the complementary filtering structure.

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Three-dimensional location and attitude estimation using asynchronous acoustic beacons and microphone array

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2021.1p1-l02 ◽

2021 ◽

Vol 2021 (0) ◽

pp. 1P1-L02

Author(s):

Satoki Ogiso

Keyword(s):

Microphone Array ◽

Three Dimensional ◽

Attitude Estimation

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Time-varying mesh stiffness calculation for gear pairs with misalignment errors in multiple degrees of freedom based on an analytical method

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/09544062211039249 ◽

2021 ◽

pp. 095440622110392

Author(s):

Qi Wen ◽

Qi Chen ◽

Qungui Du ◽

Yong Yang

Keyword(s):

Analytical Model ◽

Contact Line ◽

Degrees Of Freedom ◽

Three Dimensional ◽

Single Pair ◽

Time Varying ◽

Mesh Stiffness ◽

Position Change ◽

Multiple Degrees Of Freedom ◽

Effective Contact

Misalignment errors (MEs) in multiple degrees of freedom (multi-DOFs) at the mesh position will lead to a change in the time-varying mesh stiffness (TVMS) and then affect the dynamic behaviour of gear pairs. Therefore, a new, more rapid, three-dimensional analytical model for TVMS calculation for gear pairs with three rotational and three translational MEs is established in this paper, and a new solution method based on potential energy theory is presented. In addition, the correctness of the new model is verified by the finite element method (FEM). Moreover, the effective contact line, uneven distribution of mesh force on the contact line, and mesh position change are taken into account. Finally, the TVMS under different ME conditions is calculated with the new analytical model. The results showed that the different MEs have dissimilar effects on the TVMS, and the relationship between the ME and TVMS is nonlinear. In addition, the region of single-pair and double-pair teeth in contact would also change with ME.

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