… target spaces by a projection that guarantees minimal information loss. The key feature of
the … made to find manageable solutions to multibody tracking while guaranteeing robustness. …

… that the spatial inertia matrix is parameterized with a minimal … A coordinate transformation
is performed immediately after … been extended to rigid multibody configurations more general …

… expressed as a function of their local coordinates ( l p x , l p y … than 0.92 for all variables with
the lowest value of 0.77 for F X . … In the literature, both multi-body kinematics optimization and …

… The inertial frame coordinates are defined as XYZ whereas the body frame coordinates are
… Note that the minimum number of vector measurements needed is ≥ 2 for the attitude to be …

… redundant coordinates: the first subset [ x 1 y 1 x 2 y 2 ] ⊤ is the minimal … multibody equations
in order to fit the Kalman filter structure. In its most basic form, the dynamics of a multibody …

… The kernel of such systems is a Kalman filter estimating the relevant vehicle motion. The filter
… system, the usual formulation by means of a minimal set of generalised coordinates q and …

… the meaning of the errors gathered in Tables 2 and 3, Figure 3 shows the histories of coordinate
1 … xq for the prototype and the observer, for the cases with minimum and maximum error, …

… similar to the equations of Kalman filtering and Bryson-Frazier … In order to obtain the algorithms
with the smallest coefficients … We have assumed that the coordinate system associated …

… (minimum mean squared error) for state estimation. The general process for Kalman filtering
… The simulation was performed with MATLAB and Simulink (Simscape Multibody™) where …

… coordinate method was introduced by using the independent positions and velocities of the
multibody model as the states of the Kalman filter … , only the minimum and maximum points …