Angular Velocity Nonlinear Observer From Single Vector Measurements

Magnis, Lionel; Petit, Nicolas

doi:10.1109/tac.2015.2501358

Cited by 29 publications

(8 citation statements)

References 30 publications

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“…Various methods can be employed to estimate the (vector) angular velocity without rate gyro, e.g. [13,9,22,29,23,3]). Here, a simpler approach (complex argument method) can be used because the angular velocity (p, q, r) is actually close to (p,0,0).…”

Section: Frequency-based Estimation Of the Translational Velocity Est...mentioning

confidence: 99%

Estimation of the Velocity of a Projectile Using Radial Accelerometers—validation on 155 Mm Free Flight Test

FIOT¹,

CHANGEY²,

ADAM³

et al. 2022

Proceedings of the 32nd International Symposium on Ballistics

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This paper addresses the problem of velocity estimation for a 155 mm projectile. Indeed, to correctly feed the guidance and control algorithms of such a guided munition, it is essential to estimate its speed autonomously (without any external system) onboard and in real-time. Knowledge of the velocity (and thus the Mach number) is required to infer the aerodynamic coefficients governing its dynamics. From the analysis of the frequencies present on one of the radial accelerometers, and from a reduced 6DOF model describing the epicyclic rotation of the shell, we are able to estimate the velocity of the ammunition. The roll speed can be determined from magnetometers. For frequency estimation, we employ a subspace method of the Pisarenko type, relying on the auto-correlation matrix of the accerelometer signal. This matrix is estimated from samples and its dominant eigenvalues are related to the precession and nutation frequencies. In turn, the velocity can be estimated from the analytical values of the epicyclic motion. In this paper, we offer an efficient method to estimate the velocity of an artillery shell in free-flight, using only embedded sensors. The next step will be to use these results to improve the estimation of the projectile’s attitude and position.

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Section: Frequency-based Estimation Of the Translational Velocity Est...mentioning

confidence: 99%

Estimation of the Velocity of a Projectile Using Radial Accelerometers—validation on 155 Mm Free Flight Test

FIOT¹,

CHANGEY²,

ADAM³

et al. 2022

Proceedings of the 32nd International Symposium on Ballistics

View full text Add to dashboard Cite

show abstract

“…For this, the task of estimating the angular velocity of the rigid body can be solved using the embedded magnetometers which serve here as direction sensors, through a state observer. 29,30 Alternatively, a frequency analysis of the magnetometers signal can also be used.…”

Section: Frequency Content Of the Transverse Accelerometers Signalsmentioning

confidence: 99%

Estimation of air velocity for a high velocity spinning projectile using transerse accelerometers

Fiot

Changey

Petit

2018

2018 AIAA Guidance, Navigation, and Control Conference

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In this article, we propose a method to estimate the velocity of a projectile from strapdown transverse accelerometers. The ballistic projectile under consideration has a high velocity and a high spin rate. The transverse accelerometers measure the aerodynamics forces in a frame that is oscillating due to the pitching and yawing motion. We exploit the linearized pendulum-like equations of motion of the rotation dynamics to determine the frequencies contained in the spectrum of the measurements. Analytically, we show that three frequencies are present, the expressions of which explicitely contain the air velocity. Further, it is shown that, for the most part of the flight, only one frequency is truly visible. Extracting the value of this frequency from accelerometer signals can be performed over short time windows with a super resolution algorithm. Eventually the velocity can be estimated from an inversion of the analytic formula of the theoretical value of the frequency obtained from the aerodynamic model of the projectile. Realistic simulation results are presented, stressing the relevance of the approach, along with perspectives on the treatment of real in-flight data.

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“…However, the usages of the gyroscope will bring some disadvantages such as the higher installation cost, the complex mechanical structure, and lower system reliability. 35,36 Considering the above condition, the installation of the angular velocity sensor is not the optimal scheme to obtain the steering angular velocity. Besides, using numerical differentiation to obtain the angular velocity signal from the angular position signal will amplify the noise level and influence the control performance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive discrete-time NN controller design for automobile steer-by-wire systems with angular velocity observer

Wang

Liu

Wang

2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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As one of steering systems, the steer-by-wire (SbW) system plays a significant role in the automobile. This paper investigates the study of the adaptive discrete-time neural network (NN) steering tracking control of the SbW system based on angular velocity observer. First, the continuous second-order SbW system is discretized by the Euler approximation approach. Before the control design, an adaptive discrete-time angular velocity observer is constructed to estimate the value of angular velocity signal. Then, an adaptive discrete-time control via a backstepping scheme is proposed to achieve the exact steering tracking performance, where the unknown nonlinear function, as well as the control coefficient, are incorporated into the lumped uncertainty and approximated by one NN. The main advantages of the proposed control scheme can be concluded that: (1) without using the exact prior knowledge of system uncertainty and angular position signal, the discrete-time tracking control is achieved and (2) the noncausal problem is overcome without transforming the original system into a predictor form. Finally, the Lyapunov stability theory shows that the tracking error converges to a small neighborhood of zero. Simulations and experiments illustrate the effectiveness and superiority of the proposed adaptive discrete-time NN control.

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Angular Velocity Nonlinear Observer From Single Vector Measurements

Cited by 29 publications

References 30 publications

Estimation of the Velocity of a Projectile Using Radial Accelerometers—validation on 155 Mm Free Flight Test

Estimation of the Velocity of a Projectile Using Radial Accelerometers—validation on 155 Mm Free Flight Test

Estimation of air velocity for a high velocity spinning projectile using transerse accelerometers

Adaptive discrete-time NN controller design for automobile steer-by-wire systems with angular velocity observer

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