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Sensors 2014, 14(9), 17567-17585;

In-Flight Estimation of Center of Gravity Position Using All-Accelerometers

Department of Systems Engineering, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi Arabia
Technical & Industrial Services Co., Dammam 31493, Saudi Arabia
Author to whom correspondence should be addressed.
Received: 4 June 2014 / Revised: 2 September 2014 / Accepted: 2 September 2014 / Published: 19 September 2014
(This article belongs to the Section Physical Sensors)
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Changing the position of the Center of Gravity (CoG) for an aerial vehicle is a challenging part in navigation, and control of such vehicles. In this paper, an all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG. The accelerometers’ readings are used to find and correct the vehicle’s angular velocity and acceleration using an Extended Kalman Filter. Next, the accelerometers’ readings along with the estimated angular velocity and acceleration are used in an identification scheme to estimate the position of the CoG and the vehicle’s linear acceleration. The estimated position of the CoG and motion measurements can then be used to update the control rules to achieve better trim conditions for the air vehicle. View Full-Text
Keywords: in-flight; center of gravity determination; all-accelerometers; IMU in-flight; center of gravity determination; all-accelerometers; IMU

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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Al-Rawashdeh, Y.M.; Elshafei, M.; Al-Malki, M.F. In-Flight Estimation of Center of Gravity Position Using All-Accelerometers. Sensors 2014, 14, 17567-17585.

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