l15_filter_examp

l15_filter_examp - Examples of Estimation Filters from...

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Unformatted text preview: Examples of Estimation Filters from Recent Aircraft Projects at MIT November 2004 Sanghyuk Park and Jonathan How Vehicles & Navigation Sensors OHS (Outboard Horizontal Stabilizer) avigation Sensors (Piccolo from Cloudcap Tech) GPS Motorola M12 Inertial 3 Tokin CG-16D rate gyros 3 ADXL202 accelerometers Navigation Sensors Air Data GPS Receiver (Marconi, Allstar) Dynamic & absolute pressure sensor Inertial Sensors Air temperature sensor - Crossbow 3-axis Accelerometer, MHX 910/2400 radio modem Tokin Ceramic Gyro (MINI) or MPC555 CPU Crossbow IMU (OHS) Pitot Static Probe: measures Crista Inertial Measurement Unit airspeed 3 Analog Devices ADXL accelerometers Altitude Pressure Sensor 3 ADXRS MEMs rate sensors Complementary Filter (CF) Often, there are cases where you have two different measurement sources for estimating one variable and the noise properties of the two measurements are such that one source gives good information only in low frequency region while the other is good only in high frequency region. You can use a complementary filter ! Example : Tilt angle estimation using accelerometer and rate gyro rate) (angular dt - not good in long term due to integration output accel. + s 1 example for , s = est accelerometer rate gyro High Pass Filter 1 g - not proper during fast motion = 1 s + sin 1 - only good in long term Low Pass Filter Complementary Filter(CF) Examples CF1. Roll Angle Estimation CF2. Pitch Angle Estimation CF3. Altitude Estimation CF4. Altitude Rate Estimation CF1. CF1....
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This note was uploaded on 11/07/2011 for the course AERO 16.333 taught by Professor Alexandremegretski during the Fall '04 term at MIT.

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l15_filter_examp - Examples of Estimation Filters from...

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