A second-order divided difference filter (SDDF) is derived for integrating line of sight measurement from vision sensor with acceleration and angular rate measurements of the follower to estimate the precise relative ...A second-order divided difference filter (SDDF) is derived for integrating line of sight measurement from vision sensor with acceleration and angular rate measurements of the follower to estimate the precise relative position,velocity and attitude of two unmanned aerial vehicles (UAVs).The second-order divided difference filter which makes use of multidimensional interpolation formulations to approximate the nonlinear transformations could achieve more accurate estimation and faster convergence from inaccurate initial conditions than standard extended Kalman filter.The filter formulation is based on relative motion equations.The global attitude parameterization is given by quarternion,while a generalized three-dimensional attitude representation is used to define the local attitude error.Simulation results are shown to compare the performance of the second-order divided difference filter with a standard extended Kalman filter approach.展开更多
A current-mode low input and high output impedances first-order allpass filter using two multiple output second-generation current conveyors (MOCCIIs), one grounded capacitor and one grounded resistor is presented. Th...A current-mode low input and high output impedances first-order allpass filter using two multiple output second-generation current conveyors (MOCCIIs), one grounded capacitor and one grounded resistor is presented. The suggested filter uses a canonical number of passive components without requiring any component matching condition. The frequency responses simulation results of the proposed filter confirm the theoretical analysis.展开更多
Current methods of order tracking, such as synchronous resampling, Gabor filtering, and Vold-Kalman filtering have undesirable traits. Each method has two or more of the following deficiencies: requires measurement or...Current methods of order tracking, such as synchronous resampling, Gabor filtering, and Vold-Kalman filtering have undesirable traits. Each method has two or more of the following deficiencies: requires measurement or estimate of rotational speed over time, failure to isolate the contribution of crossing orders in the vicinity of the crossing time, large computational expense, end effects. In this work a new approach to the order tracking problem is taken. The Second Order Blind Identification (SOBI) algorithm is applied to synthesized data. The technique is shown to be very successful at isolating crossing orders and circumvents all of the above deficiencies. The method has its own restric-tions: multiple sensors are required and sensors must be mounted on a structure that responds quasi-statically to exci-tation of the rotational system.展开更多
基金Sponsored by the Aerospace Technology Innovation Funding(Grant No. CASC0209)
文摘A second-order divided difference filter (SDDF) is derived for integrating line of sight measurement from vision sensor with acceleration and angular rate measurements of the follower to estimate the precise relative position,velocity and attitude of two unmanned aerial vehicles (UAVs).The second-order divided difference filter which makes use of multidimensional interpolation formulations to approximate the nonlinear transformations could achieve more accurate estimation and faster convergence from inaccurate initial conditions than standard extended Kalman filter.The filter formulation is based on relative motion equations.The global attitude parameterization is given by quarternion,while a generalized three-dimensional attitude representation is used to define the local attitude error.Simulation results are shown to compare the performance of the second-order divided difference filter with a standard extended Kalman filter approach.
文摘A current-mode low input and high output impedances first-order allpass filter using two multiple output second-generation current conveyors (MOCCIIs), one grounded capacitor and one grounded resistor is presented. The suggested filter uses a canonical number of passive components without requiring any component matching condition. The frequency responses simulation results of the proposed filter confirm the theoretical analysis.
文摘Current methods of order tracking, such as synchronous resampling, Gabor filtering, and Vold-Kalman filtering have undesirable traits. Each method has two or more of the following deficiencies: requires measurement or estimate of rotational speed over time, failure to isolate the contribution of crossing orders in the vicinity of the crossing time, large computational expense, end effects. In this work a new approach to the order tracking problem is taken. The Second Order Blind Identification (SOBI) algorithm is applied to synthesized data. The technique is shown to be very successful at isolating crossing orders and circumvents all of the above deficiencies. The method has its own restric-tions: multiple sensors are required and sensors must be mounted on a structure that responds quasi-statically to exci-tation of the rotational system.
