Recent content by docsxp

I perform my KF at the highest rate that my sensor offers (100hz). When your GPS is not producing any data you can reflect that by modifying your H matrix accordingly. Note that IMU data shouldn't be dropped but should be averaged if you're going for a slower rate.

Can anyone point me in the right direction?

I think this is not how it should be done, but I should create a Jacobian matrix for F.

I am sorry, I should have asked the question in a proper manner. I will outline my system and derivation here. The system is a robotic platform with a high grade 9-axis (non FOG) IMU and a velocity sensor. The system has 6-dof, but I want to assume 4-dof for simplicity as well as mechanical...

I have my state vector containing $$[X, Y, v_x, v_y, \theta, r, a_x, a_y, b_{\theta}]^T$$ and I have them related by $$dX = v_x cos \theta - v_y sin \theta\\ dY = v_x sin \theta + v_y cos \theta\\ dv_x = a_x\\ dv_y = a_y\\ d\theta = r\\ dr = 0\\ da_x = 0\\ da_y = 0\\ db_\theta = 0\\ $$ Now...

gneill, thanks for sticking with me for this long. Anyway I did the question again. Using the combined impedance ##Z = \frac{1}{\frac{1}{j\omega L} + j\omega C}## we can actually calculate after simplification. However this system will be most efficient when there is no complex reactance, that...

Like resistors in parallel. ##Z = \frac{1}{\frac{1}{j\omega L} + j\omega C}## But this will give rise to a very complex impedance. Unless we leave it in ##\frac{1}{Z}## form. I will try again with the corrected formula.

So I attempted the question again and I'm still confused. When you say that I have to use ##v_a## do you mean the magnitude or do I have to treat it as a phasor? If we're focusing on magnitude then, ##i_a = \frac{v_a}{\sqrt{R^2 + (\omega L)^2}}## ##21.21 = \frac{325.269}{\sqrt{R^2 + (\omega...

When you use ##|Z| e^{j\Phi}## notation do you not use ##V_{peak}##? Do you still use ##V_{rms}##?

Hello, this is not a homework question, but is a past year exam question which I'm stumped at. Any help will be appreciated. 1. Homework Statement We're designing a current reduction system for an AC motor which is modeled as an inductor ##L##in series with a resistor ##R##. This motor is...