Degree Type
Thesis
Date of Award
2011
Degree Name
Master of Science
Department
Mechanical Engineering
First Advisor
Greg R. Luecke
Abstract
A large number of attitude estimation algorithms assume sensor placement along the axis of rotation. These models assume that all measured accelerations are due to gravity, while in reality this is not always the case. By expanding the system model to accommodate centrifugal and tangential accelerations the attitude can be more accurately estimated. This thesis introduces an approach to model accelerations not caused by gravity.
This model is incorporated into a Kalman filter and then compared with the more conventional Kalman filter approach which assumes all system acceleration is due to gravity.
Copyright Owner
Keegan Gartner
Copyright Date
2011
Language
en
Date Available
2012-04-28
File Format
application/pdf
File Size
53 pages
Recommended Citation
Gartner, Keegan, "Improved rate and angle estimation through higher accuracy planar motion models" (2011). Graduate Theses and Dissertations. 10359.
https://lib.dr.iastate.edu/etd/10359
