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Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
Diagnosis and FTC by Prof. Blanke [pdf] - NTNU
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75<br />
76<br />
Constraints - measurements<br />
Variables<br />
m1<br />
: vm= v velocity - inertial system<br />
m2 : h1<br />
= ψ heading - gyro 1<br />
m3 : h2<br />
= ψ heading - gyro 2<br />
m4<br />
: p1 = p position - GPS 1<br />
m5<br />
: p2 = p position - GPS 2<br />
m6<br />
: cm = vc<br />
sea current - log&imu<br />
m : w = v wind - anomometer<br />
7<br />
m w<br />
Seperate variables into known K<strong>and</strong> unknown X.<br />
Seperate known vars. further into input <strong>and</strong> measured:<br />
K = Ki ∪ Km<br />
Unknown : X =<br />
⎧θ1, θ2,<br />
n3,<br />
⎫<br />
⎨ ⎬<br />
⎩Nz, Ty, Tx,<br />
ψ , vpv , , c, vw⎭<br />
Input : Ki = { u1, u2, u3}<br />
Measured : Km<br />
=<br />
⎧y1, y2,<br />
y3,<br />
⎫<br />
⎨ ⎬<br />
⎩h1, h2,<br />
vm, p1, p2, cm, wm⎭<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
Mogens <strong>Blanke</strong> – Spring 2006<br />
38
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