Method and apparatus for estimating effects of disturbance forces

摘要

The attitude of a physical platform (62) is altered by a summation of forces from an attitude actuator (74), disturbance forces (80) and random noise (82). Attitude sensors (64) sense the attitude of the physical platform (62) and output measured attitude parameters to a disturbance force effects (DFE) filter (66) and an attitude filter (68). The DFE filter (66) outputs an attitude perturbation command to the attitude filter (68) and a command translator (72). Effects of the attitude perturbation are used by the DFE filter (66) to estimate the effects of disturbances on the physical platform (62). A trigger signal (76) from the attitude actuator (74) is used by DFE filter (66) to select an appropriate gain matrix used in the estimation process.