| Presentation | 2009-01-22 State Estimation of Pendulum by Monte Carlo Filter and Acceleration signal Yasuo Tachibana, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we estimate the angle and the angular velocity of a pendulum from the observation signals of an accelerator mounted on it using Monte Carlo Filter (Particle Filtering). When the pendulum stops, we can estimate its vertical angle by the effect of gravity. However, in the move environment of it, the centrifugal force happens on the pendulum. Therefore, the accelerator signals contain the square component of angular velocity. In this situation, we must treat the non linear state equation and non linear observation equation. In usual case, the system noise and observation noise have not normal distribution. For these cases we can use the Monte Carlo Filter effectively. In this paper, we assume that the system and observation noise are normal. In the execution of the Monte Carlo Filter we propose that a resampling process using the sample mean and the standard deviation of particles. By the simulation it is shown that the proposed method is available to estimate the angle and angular velocity. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Monte Carlo Filter / Particle Filtering / Pendulum / Accelerometer / State Estimations |
| Paper # | SIP2008-141,RCS2008-189 |
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| Conference Information | |
| Committee | RCS |
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| Conference Date | 2009/1/15(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Radio Communication Systems (RCS) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | State Estimation of Pendulum by Monte Carlo Filter and Acceleration signal |
| Sub Title (in English) | |
| Keyword(1) | Monte Carlo Filter |
| Keyword(2) | Particle Filtering |
| Keyword(3) | Pendulum |
| Keyword(4) | Accelerometer |
| Keyword(5) | State Estimations |
| 1st Author's Name | Yasuo Tachibana |
| 1st Author's Affiliation | Faculty of Information, Kanagawa Institute of Technology() |
| Date | 2009-01-22 |
| Paper # | SIP2008-141,RCS2008-189 |
| Volume (vol) | vol.108 |
| Number (no) | 391 |
| Page | pp.pp.- |
| #Pages | 5 |
| Date of Issue | |