Research Article

Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters

Table 3

Simulation parameters.

Final time (sec)600

Covariance matrix

Gyroscope noise level (deg/s)0.0104

Command torque (Nm)

Initial state (deg/s)

True inertia (kg⋅m2)

Nominal inertia (kg⋅m2)

Sampled data size6

Polynomial orderQuartic