Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations

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Autores: Pyrhönen, Lauri, Jaiswal, Suraj, García-Agúndez Blanco, Alfonso, García Vallejo, Daniel, Mikkola, Aki M.
Formato: artículo
Estado:Versión publicada
Fecha de publicación:2023
País:España
Recursos:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/142554
Acesso em linha:https://hdl.handle.net/11441/142554
https://doi.org/10.1007/s11044-022-09861-w
Access Level:acceso abierto
Palavra-chave:Discrete extended Kalman filter
Rigid multibody systems
Linearized dynamics
Exponential integration
Discretization
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spelling Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulationsPyrhönen, LauriJaiswal, SurajGarcía-Agúndez Blanco, AlfonsoGarcía Vallejo, DanielMikkola, Aki M.Discrete extended Kalman filterRigid multibody systemsLinearized dynamicsExponential integrationDiscretizationThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.This study investigates the discrete extended Kalman filter as applied to multibody systems and focuses on accurate formulation of the state-transition model in the framework. The proposed state-transition model is based on the coordinate-partitioning method and linearization of the multibody equations of motion. The approach utilizes the synergies between the integration of states and estimator covariances without overly simplifying the integrator structure. The proposed method is analyzed with a forward dynamics analysis of a four-bar mechanism. The results show that the stability of the state-transition model in the forward dynamics analysis is significantly enhanced with the proposed method compared with the forward Euler-based methods. The computational efficiency of the novel method was significantly lower in comparison to forward Euler-based methods, which was found to be mainly due to the computation of the Jacobian matrix of the nonlinear state equation. However, the increase in computational cost can be considered acceptable in Kalman-filtering applications, where the exact Jacobian of the state equation is needed.SpringerIngeniería Mecánica y FabricaciónTEP111: Ingeniería MecánicaBusiness Finland2023info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/142554https://doi.org/10.1007/s11044-022-09861-wreponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésMultibody System Dynamics, 57 (1), 55-72.https://link.springer.com/article/10.1007/s11044-022-09861-winfo:eu-repo/semantics/openAccessoai:idus.us.es:11441/1425542026-06-17T12:51:07Z
dc.title.none.fl_str_mv Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations
title Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations
spellingShingle Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations
Pyrhönen, Lauri
Discrete extended Kalman filter
Rigid multibody systems
Linearized dynamics
Exponential integration
Discretization
title_short Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations
title_full Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations
title_fullStr Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations
title_full_unstemmed Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations
title_sort Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations
dc.creator.none.fl_str_mv Pyrhönen, Lauri
Jaiswal, Suraj
García-Agúndez Blanco, Alfonso
García Vallejo, Daniel
Mikkola, Aki M.
author Pyrhönen, Lauri
author_facet Pyrhönen, Lauri
Jaiswal, Suraj
García-Agúndez Blanco, Alfonso
García Vallejo, Daniel
Mikkola, Aki M.
author_role author
author2 Jaiswal, Suraj
García-Agúndez Blanco, Alfonso
García Vallejo, Daniel
Mikkola, Aki M.
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Ingeniería Mecánica y Fabricación
TEP111: Ingeniería Mecánica
Business Finland
dc.subject.none.fl_str_mv Discrete extended Kalman filter
Rigid multibody systems
Linearized dynamics
Exponential integration
Discretization
topic Discrete extended Kalman filter
Rigid multibody systems
Linearized dynamics
Exponential integration
Discretization
description This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.
publishDate 2023
dc.date.none.fl_str_mv 2023
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/142554
https://doi.org/10.1007/s11044-022-09861-w
url https://hdl.handle.net/11441/142554
https://doi.org/10.1007/s11044-022-09861-w
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Multibody System Dynamics, 57 (1), 55-72.
https://link.springer.com/article/10.1007/s11044-022-09861-w
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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