… coordinates and the minimal coordinates … multibody model from redundant to minimal
coordinates is employed. The resulting equations are then exploited in an extended Kalman filter …

The aim of this work is to provide a thorough research on the implementation of some non-linear
Kalman filters (KF) using multibody (MB) models and to compare their performances in …

… The MB model is reduced from natural coordinates to minimal coordinates through a deep
learning approach. In this way, the equations of the model are transformed into a set of ODEs …

… an extended Kalman filter due to the nonlinear equations of motion for the multibody system.
… The derivative of the generalized force-expression with respect to the minimal coordinates …

… This approach is simpler than the dynamic filters cited … for coupling multibody models and
Kalman filters are presented. … deal with methods in independent coordinates. Among these …

… coordinate systems. The A-frame, located at A, is fixed to the hub (body 1) and it also serves
as a reference coordinate … bounds in these figures are shown for the smallest of the three …

… It allows reducing a generic MB model to minimal coordinates allowing the description of
the EOMs through E-ODEs while not requiring a specific formulation or access to the constraint …

… Even previously implemented multibody simulations can be used with minimal changes to …
k , q ̇ k ) are built by using the coordinates of the multibody model instead of the states of the …

… The vehicle model is designed in relative independent coordinates (one coordinate per
degree-of-freedom), leading to a multibody system of a minimum size and avoiding the definition …

… algorithms with multibody based Kalman filters, solving the … For that purpose, a Kalman
filter based on multibody models … the multibody equations, obtaining the predicted coordinates …