acceleration error


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acceleration error

An error caused by the deflection of the vertical reference due to any change in acceleration of the aircraft.
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(4) (8d) and (8e) represent, respectively, the velocity error and acceleration error between member i and the platoon leader 0.
Model [mathematical expression not reproducible] Initialization [mathematical expression not reproducible] Kalman Gain [mathematical expression not reproducible] Update State [mathematical expression not reproducible] Propagation [mathematical expression not reproducible] Calculate angular acceleration d/dt [[??].sup.+.sub.k] = 1/35 (-5[[??].sup.+.sub.k-2] - 3[[??].sup.+.sub.k-1] - [[??].sup.+.sub.k] + [[??].sup.+.sub.k-1] + 3[[??].sup.+.sub.k-2] + 5[[??].sup.+.sub.k-3]) Construct H matrix and Y vector [mathematical expression not for the LLS reproducible] Estimate inertia (every 40 sec) [mathematical expression not reproducible] Table 5: Calculated angular acceleration error results.
where [m.sub.6], [c.sub.6], and g are mass, coefficient of Coriolis force, and gravitational acceleration of the 6th branch; [rho]'(t) and [rho]"(t) are velocity error and acceleration error of synchronous control.
On this basis, coupling the error of acceleration measurement and zero offset, acceleration errors [DELTA][a.sub.E] and [DELTA][a.sub.N] can be got.