Research Article
Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters
Table 4
Inertia estimation process.
| | Model | , ,
where : nominal inertia
, |
| | Initialization |
|
| | Kalman Gain |
|
| | Update State |
|
| | Propagation | , where
|
| | Calculate angular acceleration | |
| | Construct matrix and vector for the LLS | ,
where , , |
| | Estimate inertia (every 40 sec) | , where |
|
|
