Velocity and acceleration estimation by iterative learning observer and performance validation with MEMS-based inertial sensors Online publication date: Sat, 12-Jul-2014
by Yasuhiro Kawakami; Yasuhito Eguchi; Tsuyoshi Nimiya; Haruo Suemitsu; Takami Matsuo
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 5, No. 2, 2013
Abstract: We have recently proposed the adaptive velocity estimator based on the adaptive control theory. In this paper, another velocity estimator is designed using the iterative learning observer proposed by Chen et al. Since the ILO requires the passivity condition, we cannot apply the ILO to the acceleration estimator directly. The series connection of the velocity estimator is used as an acceleration estimator. Moreover, we perform the experimental validation of proposed estimators by using the measurement data with the Crossbow NAV440 that is a product of MEMSIC, Inc. Using Crossbow NAV440, we can obtain the roll, pitch, and yaw angles and their angular velocities. The performances of the proposed differential estimators are verified by using the measurement data with NAV440. The proposed velocity and acceleration estimators are compared with the approximate differentiator and the exact differentiator.
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