T
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17
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No.
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1
9
Uni
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Ahm
a
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D
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hl
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All
rig
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s
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.
1.
Int
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V
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c
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om
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T
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s
tem
2.1.
D
ynami
c Ac
ce
le
r
atio
n
T
o
e
l
i
mi
na
te
t
he
eff
ec
t
of
ea
r
th
grav
i
t
ati
on
a
l
ac
c
el
er
ati
o
n,
the
fo
l
l
ow
i
ng
e
qu
at
i
on
s
are
made
ba
s
ed
o
n
ac
c
el
era
ti
o
n
v
ec
tor
di
ag
r
a
m
s
ho
wn
on
F
i
gu
r
e
2
.
O
bt
ai
n
an
g
l
e
p
o
s
i
ti
o
n
v
al
u
e
θ
0
(
i
ni
t
i
at
i
o
n v
al
ue
)
Dy
na
mi
c
ac
c
e
l
erat
i
on
i
s
th
e
ac
c
el
erat
i
o
n
v
al
u
e
wh
i
c
h
i
s
un
aff
ec
ted
fr
o
m
the
s
t
at
i
c
ac
c
el
erat
i
on
c
au
s
ed
by
grav
i
ty
of
th
e
ea
r
th,
s
o
tha
t
th
e
r
ea
d
ab
l
e
i
s
pu
r
e
ac
c
el
erati
on
pa
r
al
l
el
t
o
the
s
urfac
e
of
the
e
arth
[
9,
1
0]
.
a=
a
cc
elera
tio
n
p
a
r
a
llel to
t
h
e
s
u
r
fa
ce
o
f th
e
ea
r
th
F
i
gu
r
e
2
.
A
c
c
el
ero
me
t
er s
en
s
or v
ec
tor
2.2.
U
sing
Ka
lman
F
ilte
r
t
o
F
ilter
A
cc
el
er
atio
n
and
An
g
le
V
elocity
V
a
lue
K
al
ma
n
fi
l
ter
i
n
thi
s
s
tud
y
s
erv
es
to
r
ed
uc
e
the
d
i
s
turban
c
e
d
ue
t
o
l
ac
k
of
p
r
ec
i
s
i
on
s
en
s
ors
to
ob
ta
i
n
o
pti
ma
l
an
d
s
tab
l
e
r
es
u
l
ts
[11
-
18]
.
In
thi
s
proc
es
s
i
s
d
i
v
i
de
d
i
nto
c
ov
aria
nc
e
c
al
c
ul
a
ti
o
ns
(
3
s
ta
ge
s
)
an
d
s
tat
e
c
a
l
c
ul
ati
on
s
(
2
s
ta
ge
s
)
.
T
he
c
al
c
u
l
at
i
on
of
c
ov
a
r
i
an
c
e
pa
s
s
es
throug
h t
hre
e s
tag
es
:
Evaluation Warning : The document was created with Spire.PDF for Python.
â—¼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
MNIK
A
V
ol
.
17
,
No
.
4
,
A
ug
us
t
20
19
:
1
89
8
-
1
90
6
1900
a.
Cal
c
u
l
ate
K
al
m
an
ga
i
n:
b.
Cal
c
u
l
ate
es
ti
ma
t
i
on
:
c.
Cal
c
u
l
at
e c
ov
aria
nc
e
err
or:
T
he
c
al
c
u
l
at
i
o
n o
f s
t
ate
pa
s
s
es
th
r
ou
gh
two
s
t
ag
es
:
a.
S
av
e
l
as
t
es
t
i
ma
ti
o
n v
al
ue
e
:
b.
S
av
e
l
as
t c
ov
ari
an
c
e
err
or
v
al
ue
:
F
or
the
i
n
i
ti
al
pr
oc
es
s
be
f
ore
the
r
e
i
s
th
e
l
as
t
s
tat
e
v
al
ue
th
ere
wi
l
l
b
e
an
er
r
or,
wi
th
the
p
as
s
ag
e
of
t
i
me
the
fi
l
t
er
proc
es
s
i
s
r
ep
e
ate
d
c
on
ti
nu
ou
s
l
y
s
o
i
t
w
i
l
l
es
ta
bl
i
s
h
i
terat
i
o
n
th
en
de
v
i
at
i
o
n v
al
ue
w
i
l
l
b
e red
u
c
ed
to
ne
ar r
e
al
i
ty
v
al
u
e.
2.3.
A
cc
e
ler
atio
n
and
An
g
u
lar
V
eloc
it
y V
alue Int
eg
r
ate
T
he
ou
tpu
t
of
th
e
IM
U
s
en
s
or
i
s
the
an
g
ul
ar
v
el
oc
i
ty
a
nd
ac
c
el
erati
on
,
t
o
g
et
s
pe
ed
v
al
ue
i
t
mu
s
t
b
e
do
ne
i
nte
grat
i
ng
proc
es
s
.
T
he
c
orr
el
at
on
b
etwe
e
n
po
s
i
ti
on
,
v
e
l
oc
i
ty
a
nd
ac
c
el
erati
on
c
an
b
e
s
ee
n
i
n
F
i
g
ure
3.
T
h
ere
are
v
ari
ou
s
m
eth
o
ds
th
at
c
a
n
b
e
us
e
d
to
i
nte
grate.
Mi
d
po
i
nt
Ri
em
an
n
S
um
i
s
a
s
i
ng
l
e
s
tep
m
eth
od
th
at
i
s
mo
r
e
ac
c
urate
t
ha
n
t
he
E
ul
er
me
t
ho
d
[19,
20]
.
T
hi
s
me
t
ho
d
es
ti
m
ate
s
th
e
d
eriv
at
i
v
e
at
th
e
i
n
terv
al
p
oi
nts
,
wh
i
c
h
are
th
e
n
s
um
m
ariz
ed
as
s
ho
wn
i
n
F
i
gu
r
e
4
.
T
he
Mi
d
po
i
nt
R
i
e
ma
n
n
S
u
m
m
eth
od
i
s
the
em
bry
o
of
the
i
nte
gral
.
whi
c
h
i
n
teg
r
al
c
an
c
ert
ai
n
l
y
be
do
n
e
by
the
a
pp
r
ox
i
ma
t
i
on
of
the
s
um
of
the
m
ul
t
i
p
l
i
c
i
ty
o
f
f(
x
)
mu
l
t
i
p
l
i
ed
by
Δ
t.
T
he
s
ma
l
l
er
th
e
v
al
ue
Δ
t
r
e
s
u
l
ts
i
n
mo
r
e
ac
c
urate rea
di
n
gs
[2
1
,
2
2].
F
i
gu
r
e
3
. C
orel
ati
on
b
etwe
en
ac
c
el
erat
i
on
,
v
el
oc
i
ty
,
an
d
po
s
i
t
i
on
[1
9
]
F
i
gu
r
e
4
. I
nte
gra
ti
on
us
i
ng
Mi
d
po
i
nt
R
i
e
ma
n
n S
um
[20
]
In
the
s
pe
c
i
fi
c
at
i
on
i
t
ha
s
be
en
d
ete
r
m
i
n
ed
tha
t
th
e
s
pe
ed
r
at
i
ng
w
i
l
l
be
u
p
da
te
d
a
ma
x
i
m
um
of
1
me
t
er
o
nc
e.
T
he
n
i
t
c
an
b
e
d
ete
r
m
i
n
ed
ho
w
th
e
ma
x
i
mu
m
ti
me
i
nt
erv
al
v
a
l
ue
for
i
nte
grati
on
us
i
ng
M
i
d
po
i
nt
Ri
em
an
n
S
u
m
me
t
ho
d
.
T
h
e
pa
r
am
ete
r
s
i
n
th
e
s
pe
c
i
f
i
c
ati
o
n
are
a
ma
x
i
m
um
r
e
ne
w
al
r
a
ng
e
of
1
m
an
d
ma
x
i
mu
m
s
pe
ed
i
s
14
0
k
m
/h
or
c
an
be
wr
i
tt
en
38
,8
88
m
/s
ec
. S
o i
t
c
an
b
e
c
al
c
ul
a
ted
for th
e m
ax
i
m
um
ti
m
e i
nte
r
v
al
as
fo
l
l
ows
:
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
MNIK
A
IS
S
N: 1
69
3
-
6
93
0
â—¼
V
el
oc
i
t
y
m
ea
s
ure
me
nt
ba
s
ed
o
n i
ne
r
ti
al
me
as
urin
g
un
i
t
(
W
aru D
j
uri
atn
o
)
1901
wi
th
S
updat
e_max
i
s
the
ma
x
i
mu
m
di
s
ta
nc
e
to
up
d
ate
th
e
s
pe
e
d
an
d
v
max
i
s
t
he
m
ax
i
mu
m
s
pe
ed
tha
t
th
e
s
y
s
tem
c
an
m
ea
s
ure.
T
he
eq
u
ati
on
f
o
r
the
an
g
ul
ar
po
s
i
t
i
o
n
c
an
be
wr
i
tte
n
as
fo
l
l
ows
:
w
i
th
. T
he
e
qu
ati
on
f
or the
v
el
oc
i
ty
c
an
be
wr
i
tt
en
as
f
ol
l
ows
:
wi
th
2.4.
F
low
ch
ar
t
of
S
ys
t
em
F
l
owc
ha
r
t
o
f
the
s
y
s
tem
u
s
ed
as
r
efe
r
en
c
e
of
pr
og
r
am
ma
k
i
ng
f
or
IMU
s
en
s
o
r
v
al
ue
c
on
v
ers
i
on
un
t
i
l
be
c
om
i
n
g
s
pe
ed
v
a
l
u
e
i
s
s
h
own
i
n
F
i
gu
r
e
5
.
T
h
e
f
l
owc
ha
r
t
c
o
ns
i
s
ts
of
d
ata
r
etri
ev
al
proc
es
s
, d
i
gi
tal
fi
l
t
er pr
oc
es
s
, a
ng
l
e
po
s
i
t
i
o
n c
al
c
ul
ati
on
,
ac
c
el
era
ti
o
n a
nd
s
pe
ed
v
a
l
u
e.
3.
Re
sult
s
a
n
d
An
aly
s
is
T
es
ti
ng
i
s
ne
ed
e
d
to
an
al
y
z
e
the
pe
r
f
orma
nc
e
of
t
h
e
s
y
s
tem
tha
t
h
as
b
ee
n
ma
de
.
T
he
s
y
s
tem
ha
s
be
e
n
ma
de
c
a
n
b
e
k
n
own
pe
r
f
orm
an
c
e
by
an
al
y
z
i
n
g
t
he
ou
t
pu
t
v
a
l
u
es
i
n
ea
c
h s
ub
-
s
y
s
tem
.
3.1.
K
alman F
i
lt
er
T
es
t
K
al
ma
n
fi
l
ter
he
r
e
s
erv
es
as
a
fr
eq
ue
nc
y
da
mp
er
d
ue
to
no
i
s
e
th
at
c
an
be
u
s
ed
to
s
mo
oth
t
he
s
i
g
na
l
r
e
ad
i
ng
s
[23
-
25]
.
I
n
thi
s
f
i
l
t
er
ap
p
l
i
e
d
he
r
e
ha
s
2
c
on
tr
ol
v
aria
b
l
es
tha
t
ar
e
R
an
d
Q
wh
i
c
h
ha
v
e
v
al
ue
s
b
etwe
e
n
0 t
o
1.
W
h
ere R
i
s
t
he
me
as
ure
me
nt
no
i
s
e c
ov
aria
nt
, w
hi
l
e
Q
i
s
th
e
c
ov
ari
an
c
e
of
th
e
proc
es
s
no
i
s
e.
T
h
e
pu
r
p
os
e
of
s
e
l
ec
ti
ng
the
v
al
ue
of
R
an
d
Q
i
s
as
a
pa
r
am
ete
r
of
de
t
ermi
ni
ng
t
he
fr
e
qu
en
c
y
att
en
u
ati
on
,
i
f
att
e
nu
at
i
o
n
i
s
l
ow
the
n
t
he
s
i
gn
a
l
s
ti
l
l
c
on
tai
ns
no
i
s
e,
i
f
t
he
d
am
p
i
ng
i
s
too
hi
gh
th
e
no
i
s
e
de
c
r
ea
s
es
bu
t
th
e
f
i
l
t
er
ou
t
pu
t
r
ea
do
u
t
i
s
no
t
too
ac
c
urate.
B
as
ed
o
n
F
i
g
ure
6
c
an
b
e
s
e
en
th
at
t
he
ou
tp
ut
s
e
ns
or
s
ti
l
l
c
on
tai
ns
a
l
ot
of
no
i
s
e
s
o
i
mp
r
es
s
ed
no
t
t
oo
s
tab
l
e,
t
he
r
ef
ore
K
a
l
m
an
fi
l
ter
s
erv
es
as
a
no
i
s
e
fi
l
ter
du
e
to
i
ns
ta
bi
l
i
ty
s
en
s
or
ou
tpu
t.
Her
e
i
s
a
n
un
fi
l
ter
ed
s
en
s
or
ou
t
pu
t
pl
ot
th
at
ha
s
be
en
thr
o
ug
h
a
fo
urie
r
tr
an
s
format
i
o
n
s
o
th
at
i
t
c
a
n
b
e
v
i
ewe
d
i
n
the
fr
eq
ue
nc
y
do
m
ai
n.
F
r
o
m
F
i
gu
r
e
7
th
e
ou
tp
ut
of
the
u
nfi
l
tere
d s
en
s
or c
a
n b
e s
ee
n
tha
t
th
e
freq
ue
nc
y
d
i
s
tr
i
bu
t
i
o
n i
s
be
tw
ee
n
10
Hz
to
5
00
Hz
.
F
i
gu
r
e
s
8
(
A
)
,
(
B
)
a
nd
(
C)
an
d
9
(
A
)
,
(
B
)
an
d
(
C)
s
ho
w
th
e
s
en
s
or
ou
t
pu
t
p
l
o
t
us
i
ng
k
al
ma
n
f
i
l
t
er
t
ha
t
ha
s
be
e
n
thro
ug
h
a
F
o
u
r
i
er
tr
a
ns
f
ormat
i
on
s
o
t
ha
t
i
t
c
an
be
v
i
ew
ed
i
n
the
fr
eq
ue
nc
y
do
m
ai
n
.
In
t
he
da
ta
proc
es
s
i
ng
he
r
e
t
he
r
e
wi
l
l
be
2
v
ar
i
ab
l
es
i
n
t
h
e
tes
t
th
at
i
s
Q
(
0
.
1
;
0
.
01
;
0
.
00
1)
,
s
ho
wn
i
n
F
i
gu
r
e
8
(
A
)
,
(
B
)
a
nd
(
C)
,
an
d
R
(
0
.
0;
0
.
5;
1
.
0)
,
s
ho
wn
i
n
F
i
gu
r
e
9
(
A
)
,
(
B
)
an
d
(
C)
.
F
r
om
th
i
s
tes
t
c
an
be
c
o
nc
l
ud
ed
th
at
t
he
s
ma
l
l
er
v
a
l
u
e
of
Q
the
n
t
he
fr
eq
ue
nc
y
wi
l
l
b
e
mo
r
e
mu
ff
l
ed
.
F
r
o
m
th
i
s
tes
t
c
a
n
be
c
on
c
l
u
de
d
tha
t
the
great
er
v
al
u
e
of
R
the
n
the
fre
qu
e
nc
y
wi
l
l
b
e m
ore
mu
ff
l
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
â—¼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
MNIK
A
V
ol
.
17
,
No
.
4
,
A
ug
us
t
20
19
:
1
89
8
-
1
90
6
1902
F
i
gu
r
e
5
. Fl
owc
ha
r
t
of
t
he
s
y
s
tem
F
i
gu
r
e
6
. C
orel
ati
on
b
etwe
en
o
utp
u
t s
en
s
or a
nd
aft
er
pa
s
s
th
e f
i
l
ter
F
i
gu
r
e
7
.
S
en
s
or
o
utp
ut
fr
e
qu
en
c
y
r
es
po
ns
e w
i
tho
ut
f
i
l
ter
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
MNIK
A
IS
S
N: 1
69
3
-
6
93
0
â—¼
V
el
oc
i
t
y
m
ea
s
ure
me
nt
ba
s
ed
o
n i
ne
r
ti
al
me
as
urin
g
un
i
t
(
W
aru D
j
uri
atn
o
)
1903
F
i
gu
r
e
8
. O
ut
pu
t k
a
l
m
an
f
i
l
t
er wit
h
R v
al
ue
i
s
0,
5 a
n
d
Q
i
nd
ep
e
nd
e
nt
v
ari
ab
e
l
,
(
A
)
Q
=
0
.
1;
(
B
)
Q
=
0
.
0
1;
(
C)
Q
=
0
.
001
F
i
gu
r
e
9
.
O
ut
pu
t k
a
l
m
an
f
i
l
t
er wit
h
Q
v
al
u
e i
s
0
,0
1 a
n
d
i
nd
ep
e
nd
e
nt
v
ari
ab
e
l
R
,
(
A
)
R =
0
.
0;
(
B
)
R =
0
.
5;
(
C)
R =
1
.
0
3.2.
An
g
u
l
ar
ve
locit
y i
n
t
e
g
r
al
T
he
a
ng
ul
ar
v
el
oc
i
ty
i
nte
g
r
al
ai
ms
to
ob
tai
n
an
g
ul
ar
po
s
i
ti
o
n
v
a
l
u
es
.
In
th
i
s
i
n
teg
r
al
proc
es
s
i
ng
us
e
t
he
m
i
dp
oi
nt
R
i
e
ma
n
n
s
um
m
eth
od
u
s
i
ng
A
V
R
c
om
pu
t
ati
on
i
e
A
tme
g
a3
2
8
ha
s
be
en
tes
te
d
to
pe
r
form
da
t
a
r
etri
ev
a
l
to
bri
ng
u
p
th
e
a
ng
l
e
po
s
i
ti
on
,
t
he
pr
oc
es
s
tak
es
±
2,4
ms
as
s
ho
wn
i
n F
i
gu
r
e
10
.
F
i
gu
r
e
10
. T
h
e t
i
m
e t
ak
e
n f
or data
r
etri
ev
al
Her
e
i
s
a
c
om
pa
r
i
s
on
of
te
s
t
graph
of
i
n
teg
r
a
ti
o
n
v
al
u
e
of
an
g
l
e
v
el
oc
i
ty
v
al
u
e
to
ti
me
wi
th
t
v
al
ue
t=
5
ms
;
1
0
ms
;
20
ms
.
F
r
om
t
he
grap
hs
i
n
F
i
gu
r
e
s
11
,
12
an
d
13
,
th
e
i
nt
eg
r
a
l
r
es
ul
t
wi
th
mi
d
po
i
nt
r
i
em
an
s
um
me
th
od
,
i
t
c
an
b
e
s
ee
n
that
th
e
s
ma
l
l
er
v
al
u
e
o
f
Δ
t
g
en
era
te
i
nte
grati
on
r
es
ol
u
ti
o
n
a
nd
d
ata
ac
q
ui
s
i
ti
on
fr
o
m
t
he
s
y
s
tem
w
i
l
l
h
av
e
a
hi
gh
ac
c
urac
y
v
al
ue
,
bu
t
du
e
to
da
ta
ac
qu
i
s
i
t
i
on
pro
c
es
s
i
ng
un
t
i
l
i
t
a
pp
e
ars
an
g
ul
ar
po
s
i
ti
o
n
v
a
l
u
e
t
ak
e
±
2
.
4
ms
th
en
the
s
ma
l
l
es
t
v
a
l
ue
for
i
nt
eg
r
ati
o
n
a
l
s
o
ha
s
t
he
s
m
al
l
es
t
c
ap
ab
i
l
i
ty
l
i
m
i
t
s
h
ou
l
d
be
a
bo
v
e
Evaluation Warning : The document was created with Spire.PDF for Python.
â—¼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
MNIK
A
V
ol
.
17
,
No
.
4
,
A
ug
us
t
20
19
:
1
89
8
-
1
90
6
1904
proc
es
s
i
ng
t
i
me
.
F
r
om
th
e
t
hree
gra
ph
s
i
n
teg
r
a
l
r
es
ul
t
wi
th
mi
d
po
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nt
r
i
em
an
s
um
me
th
od
c
an
be
s
ee
n
t
he
s
m
al
l
er
v
a
l
ue
of
Δ
t
ge
n
erate
i
nte
gr
ati
on
r
es
ol
ut
i
o
n
a
nd
da
ta
ac
qu
i
s
i
ti
on
fr
o
m
t
he
s
y
s
tem
wi
l
l
ha
v
e
a
h
i
gh
ac
c
urac
y
v
al
ue
,
bu
t
d
ue
to
d
ata
ac
qu
i
s
i
t
i
on
proc
es
s
i
ng
un
ti
l
i
t
a
pp
e
ar
s
an
gu
l
ar
po
s
i
t
i
o
n v
al
ue
tak
e
±
2
.
4
ms
th
e
n t
he
s
m
al
l
es
t
v
al
ue
fo
r
i
nte
grat
i
on
al
s
o
h
as
th
e s
ma
l
l
es
t
c
ap
ab
i
l
i
ty
l
i
m
i
t s
ho
ul
d
be
ab
ov
e p
r
oc
es
s
i
n
g t
i
me
.
F
i
gu
r
e
11
.
A
n
gl
e v
el
oc
i
ty
i
n
teg
r
at
i
on
wi
t
h
Δ
t=
5m
s
F
i
gu
r
e
12
.
A
n
gl
e v
el
oc
i
ty
i
n
teg
r
at
i
on
wi
t
h
Δ
t=
10
ms
F
i
gu
r
e
13
.
A
n
gl
e v
el
oc
i
ty
i
n
teg
r
at
i
on
wi
t
h
Δ
t=
20
ms
3.
3
.
E
limin
ate V
alue of
S
t
atic Ac
ce
le
r
atio
n
du
e to
E
ar
t
h
G
r
a
vity
T
he
dy
n
am
i
c
ac
c
el
er
ati
on
r
ea
d
i
ng
s
ai
m
to
e
l
i
m
i
n
ate
s
t
ati
c
ac
c
e
l
erat
i
on
r
ea
d
i
n
gs
c
au
s
ed
by
ea
r
th
grav
i
ty
s
o
t
ha
t
the
r
ea
da
bl
e
v
al
ue
i
s
a
p
ure
a
c
c
el
erati
on
pa
r
a
l
l
e
l
t
o
th
e
e
arth's
s
urfac
e.
Her
e
i
s
a
c
orr
el
a
ti
o
n
grap
h
be
tw
ee
n
t
he
x
-
ax
i
s
ac
c
el
erat
i
on
s
e
ns
or
to
the
s
ta
ti
c
ac
c
el
erati
on
v
al
ue
,
wh
i
c
h
ai
ms
to
ac
c
el
eromet
er
o
utp
ut
v
a
l
ue
s
wi
l
l
di
s
p
l
ay
dy
na
mi
c
ac
c
el
erat
i
on
.
A
c
c
ordi
ng
to
th
e
F
i
gu
r
e
14
i
n
a
s
tat
i
o
n
ary
s
tat
e
dy
n
am
i
c
ac
c
el
erat
i
on
ha
s
a
v
al
ue
of
0
m/s
ev
en
th
ou
gh
t
he
IMU
c
h
an
g
es
i
ts
a
ng
u
l
ar
p
os
i
ti
on
,
the
s
tat
i
c
ac
c
e
l
erat
i
on
c
ap
t
ured
by
t
he
x
-
ax
i
s
s
en
s
or
wi
l
l
b
e
el
i
mi
na
t
ed
by
da
m
pe
n
i
n
g t
h
e v
al
u
e u
s
i
ng
an
g
ul
ar r
ea
d
i
ng
s
on
the
s
e
ns
or.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
MNIK
A
IS
S
N: 1
69
3
-
6
93
0
â—¼
V
el
oc
i
t
y
m
ea
s
ure
me
nt
ba
s
ed
o
n i
ne
r
ti
al
me
as
urin
g
un
i
t
(
W
aru D
j
uri
atn
o
)
1905
F
i
gu
r
e
14
.
Com
pa
r
at
i
o
n b
e
t
ween
a
x
a
nd
s
ta
ti
c
ac
c
el
era
ti
on
3.
4
.
R
MS
E
in t
h
e
S
t
ate
of
S
p
ee
d
0 m/s
T
he
s
y
s
tem
ha
s
be
en
m
ad
e i
s
no
t t
he
i
de
a
l
s
y
s
tem
i
t
i
s
ne
c
es
s
ary
to
te
s
t
th
e
err
or v
al
u
e
of
r
oo
t
me
an
s
q
ua
r
e
to
k
n
o
w
the
err
or
v
al
ue
i
n
the
s
t
a
te
of
s
pe
e
d
0
m/s
.
T
es
ts
t
a
k
e
50
0
da
t
a
i
n
the
s
t
ate
of
th
e
s
ta
ti
o
na
r
y
t
o
o
bta
i
n
the
i
de
nti
c
a
l
tr
ea
t
me
nt,
i
n
thi
s
tes
t
the
i
nd
ep
en
de
nt
v
aria
b
l
e
i
s
a
θ
v
a
l
ue
(
θ=
+
45
0
;
0;
-
45
0
).
B
as
e
d
o
n
F
i
gu
r
e
15
,
whe
n
th
e
a
ng
l
e
v
a
l
ue
of
s
en
s
or
i
s
+
4
5
0
ob
ta
i
ne
d
RM
S
E
0,
86
9
6
m/
s
an
d
b
as
ed
o
n
F
i
gu
r
e
1
6
an
d
F
i
gu
r
e
17
,
whe
n
th
e
an
g
l
e
v
a
l
ue
of
s
en
s
or i
s
0
0
an
d
-
45
0
c
a
n b
e o
bt
ai
ne
d
the
RM
S
E
of
0
,
03
93
m/
s
a
nd
0
.
30
30
m/s
, r
es
pe
c
ti
v
e
l
y
.
F
i
gu
r
e
15
.
V
a
l
u
e o
f
0 m
/s
c
ap
ture
d b
y
th
e
s
en
s
or whe
n t
h
e a
n
gl
e v
al
u
e i
s
+
45
0
i
n
5
s
ec
on
ds
F
i
gu
r
e
16
.
V
a
l
u
e o
f
0 m
/s
c
ap
ture
d b
y
th
e
s
en
s
or whe
n t
h
e a
n
gl
e v
al
u
e i
s
0
0
i
n
5 s
ec
on
ds
F
i
gu
r
e
17
.
V
a
l
u
e o
f
0 m
/s
c
ap
ture
d b
y
th
e s
en
s
or w
he
n t
he
an
gl
e
v
al
u
e i
s
-
45
0
i
n
5 s
ec
on
ds
4.
Co
n
clus
ion
A
fte
r
t
he
r
es
ea
r
c
h
do
n
e
b
y
tak
i
ng
da
ta
an
d
c
al
c
u
l
at
i
on
of
pa
r
a
me
ters
a
nd
a
na
l
y
s
i
s
,
i
t
c
an
be
c
on
c
l
u
de
d
t
ha
t
s
tat
i
c
ac
c
el
erat
i
on
c
an
b
e
el
i
mi
n
ate
d
by
a
ma
th
em
at
i
c
a
l
eq
u
ati
on
wi
th
Evaluation Warning : The document was created with Spire.PDF for Python.
â—¼
IS
S
N: 16
93
-
6
93
0
T
E
L
KO
MNIK
A
V
ol
.
17
,
No
.
4
,
A
ug
us
t
20
19
:
1
89
8
-
1
90
6
1906
uti
l
i
z
e
gy
r
os
c
op
e
.
R
es
ul
ts
ob
ta
i
ne
d
at
th
e
tes
t
of
0
m
/s
ha
d
an
R
MS
err
or
of
0
.8
69
6
m/s
wh
en
el
ev
at
i
o
n i
s
+
45
0
; 0
.
03
9
3 m
/s
whe
n
el
ev
ati
on
i
s
0
0
;
an
d
0.
30
30
m/s
whe
n e
l
ev
at
i
o
n
i
s
-
45
0
.
Ref
er
en
ce
s
[1
]
N
M
a
g
n
u
s
s
o
n
.
I
m
p
ro
v
i
n
g
a
b
s
o
l
u
te
p
o
s
i
t
i
o
n
e
s
t
i
m
a
te
s
o
f
a
n
a
u
to
m
o
t
i
v
e
v
e
h
i
c
l
e
u
s
i
n
g
G
PS
i
n
s
e
n
s
o
r
fu
s
i
o
n
.
G
o
t
e
b
o
rg
:
Cha
l
m
e
r
s
U
n
i
v
e
r
s
i
t
y
o
f
Te
c
h
n
o
l
o
g
y
.
Swe
d
e
n
.
2
0
1
2
.
[2
]
W
Kl
e
i
n
h
e
m
p
e
l
.
A
u
to
m
o
b
i
Ie
Dop
p
l
e
r
Sp
e
e
d
o
m
e
te
r
.
IEEE
Ve
h
i
c
l
e
Nav
i
g
a
ti
o
n
&
I
n
fo
r
m
a
ti
o
n
Sy
s
te
m
Con
fe
re
n
c
e
.
Otta
wa.
1
9
9
3
:
5
0
9
.
[3
]
J
-
M
Sta
u
ff
e
r
.
Curre
n
t
c
a
p
a
b
i
l
i
t
i
e
s
o
f
M
E
M
S
c
a
p
a
c
i
ti
v
e
a
c
c
e
l
e
ro
m
e
te
rs
i
n
a
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672.
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