By C. T. Leonides

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Additional resources for Advances in Algorithms and Computational Techniques in Dynamic Systems Control, Part 3 of 3

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1 0 ] , Varshney and Varshney [ 1 5 ] , and Liu ET AL. [ 1 6 ] . For example, the gain transfer algorithm eliminates calculation of inverse covariances and allows flexibility in the choice of system models both local and global. 26 Eacho lcalsubse ym st si an ilear dynam ci sy es m t x ( f c + 1 ) = f l i W xf i f c ) + w ( f c ) , w h ta ioldelx (y fe e e Ä " , 0 ( f e ) w c f ( ) a n d w h e r x ( c / o lm c s s m tn)o s a t e s a n d h t e s a t e t m o d e l n o s e i se i si£{(/c ze o m r(-)

Axes and A n y the gimballed navi- data, consequently these filter uses must angular velocity and errors attitude 36 W I L L I A M T. G A R D N E R OBSERVATIONS Τ 54 OBSERVATIONS A D U STATE HIERARCHICAL MODEL I F i g . 6. A l i g n m e n t test p r o b l e m . match observations between the gimballed and strapdown navigators as measurements into the filter to facilitate alignment. I n addition, the sensor axes of the slave must also be precisely aligned with the sensor axes of the radar antenna to which it is mounted.

5. T h e i m p l e m e n t a t i o n s e q u e n c e ESTIMATOR F i g . 5. G a i n transfer a l g o r i t h m — s t a t e . are GAIN TRANSFER A N D HIERARCHICAL D. S U M M A R Y ! The gain G A I N TRANSFER transfer algorithm A L G O R I T H M for the propagation of the state and c o v a r i a n c e represents a n i m p l e m e n t a t i o n m e t h o d for a decentralized i c a l e s t i m a t o r . T h e l o c a l e s t i m a t o r s p a s s t h e i r g a i n m a t r i c e s , KH matrices RT to the global estimator, ized covariance a n d methods, since n o 35 ESTIMATION state estimates.

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