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The adjustment and integration of accelerometer data using steady‐state feedback gains
Author(s) -
Murray Daniel M.
Publication year - 1985
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.4660060303
Subject(s) - acceleration , displacement (psychology) , accelerometer , control theory (sociology) , interval (graph theory) , steady state (chemistry) , state (computer science) , riccati equation , mathematics , algebraic number , output feedback , computer science , mathematical analysis , control (management) , differential equation , physics , algorithm , classical mechanics , psychology , chemistry , combinatorics , artificial intelligence , psychotherapist , operating system
The adjustment of noisy accelerometer data to prevent drift in the velocity and displacement trajectories is formulated as a discrete‐time optimal control problem. It is shown that large penalties on the terminal velocity and displacement produce large feedback gains towards the end of the time interval and result in unrealistic adjustments. An adjustment procedure is proposed in which a small penalty is placed on the entire time history of the velocity and displacement. The solution of the associated algebraic Riccati equation yields steady‐state feedback gains which produce satisfactory adjustments of the acceleration measurements and generate realistic velocity and displacement trajectories.