THE USE OF KALMAN FILTER IN MOVING OBJECT CONTROL
Abstract
The problems arising in object control based on signals from several sensors in the course of difference in noise characteristics in their readings and missing of priori information on noise intensity of investigated process and applied sensors are considered. The basic approaches of their decision are presented, variants of filter structures providing an estimation of the body angular orientation using fusion of readings from gyroscopes and accelerometers taking into account the specifics of their data are proposed. Modeling of their work is performed at various noise intensities in sensor indications and a various choice of factors of filtering links to get the required bandwidth. On the basis of the comparative analysis of the received results recommendations for choice quantities of channels in structure for a filtration of coming measurements and their bandwidths are developed.
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