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 size | 6 |
| Polynomial order | Quartic |
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