Implementation of Roll Angle and Angular Velocity Estimation Algorithm for a High-Speed Projectile Using Accelerometers Output Data

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ASGHARI ALI; nasrollahi Saeed; Ghahremani Nematollah

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Journal: Journal of Control Year:2019 | Volume:13 | Issue:2 Page(s): 67-80

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Information Journal Paper

Title

Implementation of Roll Angle and Angular Velocity Estimation Algorithm for a High-Speed Projectile Using Accelerometers Output Data

Author(s)

ASGHARI ALI | nasrollahi Saeed | Ghahremani Nematollah | Issue Writer Certificate

Keywords

Roll chanellQ1

Kalman filterQ2

Adaptive filterQ2

MEMS-based accelerometer sensorQ1

Data fusionQ1

Abstract

In this paper, implementation of roll angle and angular velocity estimation algorithm for a high-speed projectile using the fusion of the accelerometers output data is proposed. The reason for the use of accelerometers instead of gyros and magnetometer is the high error of the MEMS gyroscope for high speed and the low accuracy of the magnetometer due to the presence of Non-Earth magnetic fields and the effects of hard and soft iron. After expression of the proposed algorithm, the implementation process is explained. In this process, an electric motor is used to simulate the projectile roll and two accelerometers are used to measure angular velocity and acceleration. Two constant and variable velocity scenarios have been investigated in both online and offline modes. Both extended Kalman filter and adaptive extended Kalman filter estimators have been used to estimate the rolling angular velocity. Finally, the comparison of these two methods for the rolling angular velocity and roll angle, indicates a better performance for the adaptive estimator.

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APA: Copy

ASGHARI, ALI, nasrollahi, Saeed, & Ghahremani, Nematollah. (2019). Implementation of Roll Angle and Angular Velocity Estimation Algorithm for a High-Speed Projectile Using Accelerometers Output Data. JOURNAL OF CONTROL, 13(2 ), 67-80. SID. https://sid.ir/paper/120782/en

Vancouver: Copy

ASGHARI ALI, nasrollahi Saeed, Ghahremani Nematollah. Implementation of Roll Angle and Angular Velocity Estimation Algorithm for a High-Speed Projectile Using Accelerometers Output Data. JOURNAL OF CONTROL[Internet]. 2019;13(2 ):67-80. Available from: https://sid.ir/paper/120782/en

IEEE: Copy

ALI ASGHARI, Saeed nasrollahi, and Nematollah Ghahremani, “Implementation of Roll Angle and Angular Velocity Estimation Algorithm for a High-Speed Projectile Using Accelerometers Output Data,” JOURNAL OF CONTROL, vol. 13, no. 2 , pp. 67–80, 2019, [Online]. Available: https://sid.ir/paper/120782/en

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