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

9.5.3 Singer Filter Tuning
The Singer filter system noise was not tuned, it was set to 80 m/s 2
representing a sustained 9 g manoeuvre (5 g in each Cartesian axis). Figure
9-46 and shows the position and acceleration errors when tracking the “U”
turn test trajectory. The injection of large amounts of process noise means
that the tracking errors remain high, with mean PVA errors over the 20 s
sampling interval of 19 ± 3 m, 54 ± 14 m/s and 83 ± 19 m/s 2 respectively.
TG_P_MET [metres]
TG_A_MET [m/sec**2]
35
30
25
20
15
10
5
10 12 14 16 18 20 22 24 26 28 30
TIME [seconds]
140
130
120
110
100
90
80
70
60
50
40
10 12 14 16 18 20 22 24 26 28 30
TIME [seconds]
Figure 9-46
Singer Filter - Position and Acceleration Errors, ( PIP ) and ( PIA )
These results reinforce the comments of Mazor [M.2] that the classical use of
filters with large amounts of system noise make them oblivious to small
dynamic changes, whereas hybrid systems such as the IMM are expected to
remain responsive.
9-27