This paper presents an approach to estimate the attitude of skis for an entire ski jump using wearable, MEMS-based, low-cost Inertial Measurement Units (IMUs). First of all, a kinematic attitude model based on rigid-body dynamics and a sensor error model considering bias and scale factor error are established. Then, an extended Rauch-Tung-Striebel (RTS) smoother is used to combine measurement data provided by both gyroscope and magnetometer to achieve an attitude estimation. Moreover, parameters for the bias and scale factor error in the sensor error model and the initial attitude are determined via a maximum-likelihood principle based parameter estimation algorithm. By implementing this approach, an attitude estimation of skis is achieved without further sensor calibration. Finally, results based on both the simulated reference data and the real experimental measurement data are presented, which proves the practicability and the validity of the proposed approach.
System identification methods have played an essential role in the research and industry projects at the Institute of Flight System Dynamics of the Technical University of Munich. Besides the application of the established system identification approaches to multiple aircraft, novel methods have been developed at the institute to deal with the challenges associated with fixed- and rotary-wing aircraft system identification in the time and frequency domains. This paper provides an overview of these new developments, as well as practical application examples from the past and ongoing projects at the institute. After a brief introduction to the work at the institute, the paper describes the new advancements in the fields of time domain system identification and optimal input design by introducing optimal control methods. It continues with an alternative problem formulation for applying frequency domain system identification and parameter estimation methods to a novel flight control design and tuning approach. Additional topics from the past and ongoing research at the institute such as novel methods and practical findings in rotorcraft system identification and flight path reconstruction for different applications will be discussed and referenced.
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