Title: Velocity and acceleration estimation by iterative learning observer and performance validation with MEMS-based inertial sensors

Authors: Yasuhiro Kawakami; Yasuhito Eguchi; Tsuyoshi Nimiya; Haruo Suemitsu; Takami Matsuo

Addresses: Department of Architecture and Mechatronics, Oita University, 700 Dannonaru, Oita, Japan ' Department of Architecture and Mechatronics, Oita University, 700 Dannonaru, Oita, Japan ' Department of Architecture and Mechatronics, Oita University, 700 Dannonaru, Oita, Japan ' Department of Architecture and Mechatronics, Oita University, 700 Dannonaru, Oita, Japan ' Department of Architecture and Mechatronics, Oita University, 700 Dannonaru, Oita, Japan

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.

Keywords: adaptive observers; parameter update law; differentiator; velocity estimation; acceleration estimation; iterative learning observers; performance evaluation; microelectromechanical systems; MEMS based inertial sensors; adaptive control; roll angle; pitch angle; yaw angle; angular velocities; GPS; global positioning systems; attitude and heading reference systems; AHRS.

DOI: 10.1504/IJAMECHS.2013.056001

International Journal of Advanced Mechatronic Systems, 2013 Vol.5 No.2, pp.113 - 121

Received: 08 May 2021
Accepted: 12 May 2021

Published online: 23 Aug 2013 *

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