Experimental Validation of Adaptive Velocity and Acceleration Estimators with MEMS-Based Inertial Sensors

Abstract

We have recently proposed the adaptive velocity and acceleration estimators based on the adaptive control theory. In this report, we perform the experimental validation of proposed estimators with the Crossbow NAV440 that is a product of MEMSIC,Inc. Using Crossbow NAV440, we can obtain the roll, pitch, and yaw angles and their velocities and accelerations. The performances of the proposed differential filters are verified by using the measurement data with NAV440. Moreover, the adaptive velocity and acceleration estimators are compared with the approximate differentiatoｒ and the exact differentiator.