dc.creator | Pyrhönen, Lauri | es |
dc.creator | Jaiswal, Suraj | es |
dc.creator | García-Agúndez Blanco, Alfonso | es |
dc.creator | García Vallejo, Daniel | es |
dc.creator | Mikkola, Aki M. | es |
dc.date.accessioned | 2023-02-08T14:55:10Z | |
dc.date.available | 2023-02-08T14:55:10Z | |
dc.date.issued | 2023 | |
dc.identifier.citation | Pyrhönen, L., Jaiswal, S., García-Agúndez, A., García Vallejo, D. y Mikkola, A.M. (2023). Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations. Multibody System Dynamics, 57 (1), 55-72. https://doi.org/10.1007/s11044-022-09861-w. | |
dc.identifier.issn | 1384-5640 | es |
dc.identifier.uri | https://hdl.handle.net/11441/142554 | |
dc.description | This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. | es |
dc.description.abstract | This study investigates the discrete extended Kalman filter as applied to multibody systems
and focuses on accurate formulation of the state-transition model in the framework. The proposed
state-transition model is based on the coordinate-partitioning method and linearization
of the multibody equations of motion. The approach utilizes the synergies between
the integration of states and estimator covariances without overly simplifying the integrator
structure. The proposed method is analyzed with a forward dynamics analysis of a four-bar
mechanism. The results show that the stability of the state-transition model in the forward
dynamics analysis is significantly enhanced with the proposed method compared with the
forward Euler-based methods. The computational efficiency of the novel method was significantly
lower in comparison to forward Euler-based methods, which was found to be mainly
due to the computation of the Jacobian matrix of the nonlinear state equation. However, the
increase in computational cost can be considered acceptable in Kalman-filtering applications,
where the exact Jacobian of the state equation is needed. | es |
dc.format | application/pdf | es |
dc.format.extent | 18 p. | es |
dc.language.iso | eng | es |
dc.publisher | Springer | es |
dc.relation.ispartof | Multibody System Dynamics, 57 (1), 55-72. | |
dc.rights | Atribución 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | Discrete extended Kalman filter | es |
dc.subject | Rigid multibody systems | es |
dc.subject | Linearized dynamics | es |
dc.subject | Exponential integration | es |
dc.subject | Discretization | es |
dc.title | Linearization-based state-transition model for the discrete extended Kalman filter applied to multibody simulations | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería Mecánica y de Fabricación | es |
dc.relation.publisherversion | https://link.springer.com/article/10.1007/s11044-022-09861-w | es |
dc.identifier.doi | 10.1007/s11044-022-09861-w | es |
dc.contributor.group | Universidad de Sevilla. TEP111: Ingeniería Mecánica | es |
dc.journaltitle | Multibody System Dynamics | es |
dc.publication.volumen | 57 | es |
dc.publication.issue | 1 | es |
dc.publication.initialPage | 55 | es |
dc.publication.endPage | 72 | es |
dc.contributor.funder | Business Finland | es |