Search results for " Kalman filtering"

Extended complex Kalman filter for sensorless control of an induction motor

2014

Abstract This paper deals with the design of an extended complex Kalman filter (ECKF) for estimating the state of an induction motor (IM) model, and for sensorless control of systems employing this type of motor as an actuator. A complex-valued model is adopted that simultaneously allows a simpler observability analysis of the system and a more effective state estimation. The observability analysis of this model is first performed by assuming that a third order ECKF has to be designed, by neglecting the mechanical equation of the IM model, which is a valid hypothesis when the motor is operated at constant rotor speed. It is shown that this analysis is more effective and easier than the one …

Improved GNSS positioning exploiting a vehicular P2P infrastructure

2010

This paper considers the possibility to exploit external altitude measurements to improve the performance of a Kalman based GNSS receiver. The altitude measurements are provided by means of a peer to peer network, that is supposed to be based on the evolution of the 802.11 standard for the vehicular environment, namely the WAVE (802.11p). The performance of such a system are investigated for different characteristics of the aiding measurement and for a different number and disposals of the aiding peers. The aiding measurement is obtained starting from the altitude measurements that the other peers in the network send to the aided user. The experiments highlight the need for a parameter that…

Peer to Peer Equation Augmentation for an Altitude Aided GNSS Receiver

2010

This paper considers the possibility to integrate external altitude measurements with a Kalman based Global Navigation Satellite System (GNSS) receiver in a peer to peer scenario. The performance of such a system is investigated for different characteristics of the aiding measurement and for different degree of trust of the receiver upon the aiding measurement. The aiding measurement is obtained starting from the altitude measurements that the other peers in the network send to the aided user. The experiments highlight the need for a parameter that points out the effectiveness and the consistency of the computed aiding measurement. To this purpose, a reliability index is proposed, on the ba…

ARIANNA: a smartphone-based navigation system with human in the loop

2014

In this paper we present a low cost navigation system, called ARIANNA, primarily designed for visually impaired people. ARIANNA (pAth Recognition for Indoor Assisted NavigatioN with Augmented perception) permits to find some points of interests in an indoor environment by following a path painted or sticked on the floor. The path is detected by the camera of the smartphone which also generates a vibration signal providing a feedback to the user for correcting his/her direction. Some special landmarks can be deployed along the path for coding additional information detectable by the camera. In order to study the practical feasibility of the ARIANNA system for human users that want to follow …

Advanced Motion Control in Induction Motor Systems - Modelling, Analysis and Control

Using a unified notation, this thesis collects and discusses the most important steps and issues in the design of estimation and control algorithms for induction motors. It contains many estimation and control algorithms. Their stability is analyzed and their performance is illustrated by simulations and experiments on the same induction motor. An intense and challenging collective research effort is carefully documented and analyzed, with the aim of providing and clarifying the basic intuition and tools required in the analysis and design of nonlinear feedback control algorithms. This material should be of specific interest to engineers who are engaged in the design of control algorithms f…