### Abstract

A Kalman filter that can estimate equal velocity and equal angular velocity by means of angular velocities in two directions is proposed. In the proposed tracking filter, the angular velocity is calculated in two directions from the difference of the two velocity vectors obtained from the observation values of the past three samples. By making use of the fact that the speed of rotation of the velocity vector coincides with the angular velocity in constant-speed circular motion, the variation of the velocity is expressed without using an acceleration term. Since the calculation of the rotating acceleration is not needed, the error due to shift of the estimated center and the estimated radius in Ref. 10 can be made zero and the tracking accuracy can be improved. The effectiveness of the proposed tracking filter is demonstrated with regard to the tracking accuracy and computational load by computer simulation.

Original language | English |
---|---|

Pages (from-to) | 67-80 |

Number of pages | 14 |

Journal | Electronics and Communications in Japan, Part I: Communications (English translation of Denshi Tsushin Gakkai Ronbunshi) |

Volume | 87 |

Issue number | 10 |

DOIs | |

Publication status | Published - 2004 Oct |

### Fingerprint

### Keywords

- Angular velocity in two directions
- Prediction of equal velocity and equal angular velocity
- Velocity vector

### ASJC Scopus subject areas

- Electrical and Electronic Engineering
- Computer Networks and Communications

### Cite this

*Electronics and Communications in Japan, Part I: Communications (English translation of Denshi Tsushin Gakkai Ronbunshi)*,

*87*(10), 67-80. https://doi.org/10.1002/ecja.10160

**A Kalman estimator using two directions of angular velocity.** / Kawamoto, Daisuke; Hashirao, Masataka; Kawase, Tetsuya; Satoh, Reiji; Sasase, Iwao.

Research output: Contribution to journal › Article

*Electronics and Communications in Japan, Part I: Communications (English translation of Denshi Tsushin Gakkai Ronbunshi)*, vol. 87, no. 10, pp. 67-80. https://doi.org/10.1002/ecja.10160

}

TY - JOUR

T1 - A Kalman estimator using two directions of angular velocity

AU - Kawamoto, Daisuke

AU - Hashirao, Masataka

AU - Kawase, Tetsuya

AU - Satoh, Reiji

AU - Sasase, Iwao

PY - 2004/10

Y1 - 2004/10

N2 - A Kalman filter that can estimate equal velocity and equal angular velocity by means of angular velocities in two directions is proposed. In the proposed tracking filter, the angular velocity is calculated in two directions from the difference of the two velocity vectors obtained from the observation values of the past three samples. By making use of the fact that the speed of rotation of the velocity vector coincides with the angular velocity in constant-speed circular motion, the variation of the velocity is expressed without using an acceleration term. Since the calculation of the rotating acceleration is not needed, the error due to shift of the estimated center and the estimated radius in Ref. 10 can be made zero and the tracking accuracy can be improved. The effectiveness of the proposed tracking filter is demonstrated with regard to the tracking accuracy and computational load by computer simulation.

AB - A Kalman filter that can estimate equal velocity and equal angular velocity by means of angular velocities in two directions is proposed. In the proposed tracking filter, the angular velocity is calculated in two directions from the difference of the two velocity vectors obtained from the observation values of the past three samples. By making use of the fact that the speed of rotation of the velocity vector coincides with the angular velocity in constant-speed circular motion, the variation of the velocity is expressed without using an acceleration term. Since the calculation of the rotating acceleration is not needed, the error due to shift of the estimated center and the estimated radius in Ref. 10 can be made zero and the tracking accuracy can be improved. The effectiveness of the proposed tracking filter is demonstrated with regard to the tracking accuracy and computational load by computer simulation.

KW - Angular velocity in two directions

KW - Prediction of equal velocity and equal angular velocity

KW - Velocity vector

UR - http://www.scopus.com/inward/record.url?scp=2542492311&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=2542492311&partnerID=8YFLogxK

U2 - 10.1002/ecja.10160

DO - 10.1002/ecja.10160

M3 - Article

AN - SCOPUS:2542492311

VL - 87

SP - 67

EP - 80

JO - Electronics and Communications in Japan, Part I: Communications (English translation of Denshi Tsushin Gakkai Ronbunshi)

JF - Electronics and Communications in Japan, Part I: Communications (English translation of Denshi Tsushin Gakkai Ronbunshi)

SN - 8756-6621

IS - 10

ER -