Mass and Inertia Estimation Using All-Accelerometer

Yazan M. Al-Rawashdeh; Moustafa Elshafei; Hassen Ouakad

doi:10.1109/SAS58821.2023.10254165

Mass and Inertia Estimation Using All-Accelerometer

Yazan M. Al-Rawashdeh
, Moustafa Elshafei
, Hassen Ouakad

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

A closed-loop identification method for estimating quadrotor-manipulators mass and inertia is presented. Essentially, the measurements of a plurality of six linear tri-axial accelerometers network are used. Adopting the assumption of rigid body, the recursive nonlinear least squares method is used to obtain the mass and inertia estimates, with the aid of a sufficiently exciting exogenous noise that is used to ensure convergence of the identification process when the angular motion during flight is negligible. Stability and identifiability related issues during identification and mission conduction are discussed. Other types of aerial vehicles can benefit from the proposed method that depends on simple kinematical analysis of motion. Its applicability is demonstrated using a numeric simulation.

Original language	English
Title of host publication	2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350323078
DOIs	https://doi.org/10.1109/SAS58821.2023.10254165
State	Published - 2023
Externally published	Yes
Event	18th IEEE Sensors Applications Symposium, SAS 2023 - Ottawa, Canada Duration: 18 Jul 2023 → 20 Jul 2023

Publication series

Name	2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings

Conference

Conference	18th IEEE Sensors Applications Symposium, SAS 2023
Country/Territory	Canada
City	Ottawa
Period	18/07/23 → 20/07/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

aerial manipulator
all-accelerometer
estimation
inertia
least squares
mass
quadrotor

ASJC Scopus subject areas

Electrical and Electronic Engineering
Instrumentation

Access to Document

10.1109/SAS58821.2023.10254165

Cite this

@inproceedings{51f7e74ca35c4e34a35dd018f4bd9067,

title = "Mass and Inertia Estimation Using All-Accelerometer",

abstract = "A closed-loop identification method for estimating quadrotor-manipulators mass and inertia is presented. Essentially, the measurements of a plurality of six linear tri-axial accelerometers network are used. Adopting the assumption of rigid body, the recursive nonlinear least squares method is used to obtain the mass and inertia estimates, with the aid of a sufficiently exciting exogenous noise that is used to ensure convergence of the identification process when the angular motion during flight is negligible. Stability and identifiability related issues during identification and mission conduction are discussed. Other types of aerial vehicles can benefit from the proposed method that depends on simple kinematical analysis of motion. Its applicability is demonstrated using a numeric simulation.",

keywords = "aerial manipulator, all-accelerometer, estimation, inertia, least squares, mass, quadrotor",

author = "Al-Rawashdeh, \{Yazan M.\} and Moustafa Elshafei and Hassen Ouakad",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 18th IEEE Sensors Applications Symposium, SAS 2023 ; Conference date: 18-07-2023 Through 20-07-2023",

year = "2023",

doi = "10.1109/SAS58821.2023.10254165",

language = "English",

series = "2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings",

address = "United States",

}

Al-Rawashdeh, YM, Elshafei, M & Ouakad, H 2023, Mass and Inertia Estimation Using All-Accelerometer. in 2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings. 2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 18th IEEE Sensors Applications Symposium, SAS 2023, Ottawa, Canada, 18/07/23. https://doi.org/10.1109/SAS58821.2023.10254165

Mass and Inertia Estimation Using All-Accelerometer. / Al-Rawashdeh, Yazan M.; Elshafei, Moustafa; Ouakad, Hassen.
2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Mass and Inertia Estimation Using All-Accelerometer

AU - Al-Rawashdeh, Yazan M.

AU - Elshafei, Moustafa

AU - Ouakad, Hassen

PY - 2023

Y1 - 2023

N2 - A closed-loop identification method for estimating quadrotor-manipulators mass and inertia is presented. Essentially, the measurements of a plurality of six linear tri-axial accelerometers network are used. Adopting the assumption of rigid body, the recursive nonlinear least squares method is used to obtain the mass and inertia estimates, with the aid of a sufficiently exciting exogenous noise that is used to ensure convergence of the identification process when the angular motion during flight is negligible. Stability and identifiability related issues during identification and mission conduction are discussed. Other types of aerial vehicles can benefit from the proposed method that depends on simple kinematical analysis of motion. Its applicability is demonstrated using a numeric simulation.

AB - A closed-loop identification method for estimating quadrotor-manipulators mass and inertia is presented. Essentially, the measurements of a plurality of six linear tri-axial accelerometers network are used. Adopting the assumption of rigid body, the recursive nonlinear least squares method is used to obtain the mass and inertia estimates, with the aid of a sufficiently exciting exogenous noise that is used to ensure convergence of the identification process when the angular motion during flight is negligible. Stability and identifiability related issues during identification and mission conduction are discussed. Other types of aerial vehicles can benefit from the proposed method that depends on simple kinematical analysis of motion. Its applicability is demonstrated using a numeric simulation.

KW - aerial manipulator

KW - all-accelerometer

KW - estimation

KW - inertia

KW - least squares

KW - mass

KW - quadrotor

UR - https://www.scopus.com/pages/publications/85173995430

U2 - 10.1109/SAS58821.2023.10254165

DO - 10.1109/SAS58821.2023.10254165

M3 - Conference contribution

AN - SCOPUS:85173995430

T3 - 2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings

BT - 2023 IEEE Sensors Applications Symposium, SAS 2023 - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 18th IEEE Sensors Applications Symposium, SAS 2023

Y2 - 18 July 2023 through 20 July 2023

ER -

Mass and Inertia Estimation Using All-Accelerometer

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this