Thesis - Leigh Moody.pdf - Bad Request - Cranfield University

Glossary
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TG_P_MET [metres]
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10
0
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TIME [seconds]
Figure 9-41 : Acceleration Filter Position Error (PIP)
The tuned acceleration filter was used to track the target “U” turn designed
for Singer model tuning. The position error shown in Figure 9-41 indicates
that whilst the filter does not track the manoeuvre, the errors approaching
the actual acceleration of the target, it remains stable.
9.5.2 Velocity Filter Tuning
The velocity filter was used to track a constant speed crossing target using
system noise levels of (0.2, 1, 3, 10) m 2 /s 4 /Hz. The CN is shown in Figure
9-42, and the position and velocity errors in Figure 9-43. A noise level of
1 m 2 /s 4 /Hz was selected, a compromise between minimising the steady state
error and observability.
F1_E_MET [sigma]
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90
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TIME [seconds]
9-24
T3_IMQV10.MTB
T3_IMQV03.MTB
T3_IMQV01.MTB
T3_IMQV0Q.MTB
Figure 9-42 : Velocity Filter Conditioning Number
Figure 9-44 shows the position and velocity errors when the noise is set to
1 m 2 /s 4 /Hz compared with filter expectations. There is a concern that the