In-Flight Estimation of Center of Gravity Position Using All-Accelerometers
Changing the position of the Center of Gravity (CoG) for an aerial vehicle is a challenging part in navigation, and control of such vehicles. In this paper, an all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG....
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2014-09-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/14/9/17567 |
| _version_ | 1818016090170589184 |
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| author | Yazan Mohammad Al-Rawashdeh Moustafa Elshafei Mohammad Fahad Al-Malki |
| author_facet | Yazan Mohammad Al-Rawashdeh Moustafa Elshafei Mohammad Fahad Al-Malki |
| author_sort | Yazan Mohammad Al-Rawashdeh |
| collection | DOAJ |
| description | Changing the position of the Center of Gravity (CoG) for an aerial vehicle is a challenging part in navigation, and control of such vehicles. In this paper, an all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG. The accelerometers’ readings are used to find and correct the vehicle’s angular velocity and acceleration using an Extended Kalman Filter. Next, the accelerometers’ readings along with the estimated angular velocity and acceleration are used in an identification scheme to estimate the position of the CoG and the vehicle’s linear acceleration. The estimated position of the CoG and motion measurements can then be used to update the control rules to achieve better trim conditions for the air vehicle. |
| first_indexed | 2024-04-14T07:07:17Z |
| format | Article |
| id | doaj.art-90bd67660022489892134a44a7ec0240 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T07:07:17Z |
| publishDate | 2014-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-90bd67660022489892134a44a7ec02402022-12-22T02:06:32ZengMDPI AGSensors1424-82202014-09-01149175671758510.3390/s140917567s140917567In-Flight Estimation of Center of Gravity Position Using All-AccelerometersYazan Mohammad Al-Rawashdeh0Moustafa Elshafei1Mohammad Fahad Al-Malki2Department of Systems Engineering, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi ArabiaDepartment of Systems Engineering, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi ArabiaTechnical & Industrial Services Co., Dammam 31493, Saudi ArabiaChanging the position of the Center of Gravity (CoG) for an aerial vehicle is a challenging part in navigation, and control of such vehicles. In this paper, an all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG. The accelerometers’ readings are used to find and correct the vehicle’s angular velocity and acceleration using an Extended Kalman Filter. Next, the accelerometers’ readings along with the estimated angular velocity and acceleration are used in an identification scheme to estimate the position of the CoG and the vehicle’s linear acceleration. The estimated position of the CoG and motion measurements can then be used to update the control rules to achieve better trim conditions for the air vehicle.http://www.mdpi.com/1424-8220/14/9/17567in-flightcenter of gravity determinationall-accelerometersIMU |
| spellingShingle | Yazan Mohammad Al-Rawashdeh Moustafa Elshafei Mohammad Fahad Al-Malki In-Flight Estimation of Center of Gravity Position Using All-Accelerometers Sensors in-flight center of gravity determination all-accelerometers IMU |
| title | In-Flight Estimation of Center of Gravity Position Using All-Accelerometers |
| title_full | In-Flight Estimation of Center of Gravity Position Using All-Accelerometers |
| title_fullStr | In-Flight Estimation of Center of Gravity Position Using All-Accelerometers |
| title_full_unstemmed | In-Flight Estimation of Center of Gravity Position Using All-Accelerometers |
| title_short | In-Flight Estimation of Center of Gravity Position Using All-Accelerometers |
| title_sort | in flight estimation of center of gravity position using all accelerometers |
| topic | in-flight center of gravity determination all-accelerometers IMU |
| url | http://www.mdpi.com/1424-8220/14/9/17567 |
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