Simultaneous Processing of Photographic and Accelerometer Array Data from Sled Impact Experiments.

摘要

A Quaternion-Kalman filter model is derived to simultaneously analyze accelerometer array and photographic data from sled impact experiments. Formulas are given for the quaternion representation of rotations, the propagation of dynamical states and their partial derivatives, the observables and their partial derivatives, and the Kalman filter update of the state given the observables. The observables are accelerometer and tachometer velocity data of the sled relative to the track, linear accelerometer array and photographic data of the subject relative to the sled, and ideal angular accelerometer data. The quaternion constraints enter through perfect constraint observations and normalization after a state update. Lateral and fore-aft impact tests are analyzed with Fortran IV software written using the formulas of this report.