전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제67권3호
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  • Pages.427-432
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  • 2018
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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비스듬히 던진 물체의 공기저항을 고려한 재귀 최소 자승법 기반 실시간 포물선 운동 궤적 추정

Real-time Projectile Motion Trajectory Estimation Considering Air Resistance of Obliquely Thrown Object Using Recursive Least Squares Estimation

  • Jeong, Sangyoon (Dept. of Electrical and Computer Engineering, Ajou University) ;
  • Chwa, Dongkyoung (Dept. of Electrical and Computer Engineering, Ajou University)
  • 투고 : 2017.10.11
  • 심사 : 2018.01.17
  • 발행 : 2018.03.01
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초록

This paper uses a recursive least squares method to estimate the projectile motion trajectory of an object in real time. The equations of motion of the object are obtained considering the air resistance which occurs in the actual experiment environment. Because these equations consider air resistance, parameter estimation of nonlinear terms is required. However, nonlinear recursive least squares estimation is not suitable for estimating trajectory of projectile in that it requires a lot of computation time. Therefore, parameter estimation for real-time trajectory prediction is performed by recursive least square estimation after using Taylor series expansion to approximate nonlinear terms to polynomials. The proposed method is verified through experiments by using VICON Bonita motion capture system which can get three dimensional coordinates of projectile. The results indicate that proposed method is more accurate than linear Kalman filter method based on the equations of motion of projectile that does not consider air resistance.

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참고문헌

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