A Kalman Estimator using Two Directions of Angular Velocity.
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Accession number;03A0117012
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| Title;A Kalman Estimator using Two Directions of Angular Velocity. |
| Author;
KAWAMOTO DAISUKE
(Keio Univ., Faculty of Sci. and Technol., JPN)
HASHIRAO MASATAKA
(Keio Univ., Faculty of Sci. and Technol., JPN)
KAWASE TETSUYA
(Mitsubishi Electric Corp., Information Technol. R&D Center, JPN)
SATO REIJI
(Keio Univ., Faculty of Sci. and Technol., JPN)
SASASE IWAO
(Keio Univ., Faculty of Sci. and Technol., JPN)
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Journal Title;IEICE Transactions on Communications (Japanese Edition)
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Journal Code:S0622C
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ISSN:1344-4697
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VOL.J86-B;NO.2;PAGE.255-267(2003)
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| Figure&Table&Reference;FIG.21, TBL.3, REF.10 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;In this paper, was proposed a Kalman filter capable of carrying out forecasting with uniform speed and uniform angular speed based on two directional angular speed. On the proposed following filter, by difference of two speed vectors obtained from observation values on past three exsamples, the two directional angular speed was calculated. And, by using that rotary speed of speed vectors at uniform circular motion agreed with the angular speed, change of the speed vectors was expressed without using acceleration term. As a result, because of no need on calculation of revolutional acceleration, errors based on gaps of estimated radius and center in literature 10 could make zero, to enable to upgrade following precision. By using computer simulation, effectiveness of the proposed following filter on following precision and calculation load was shown. |
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