Superprecise inertial range-finding control of machines (Q1921511)

The control of the motion or position of an object in real three-dimensional space by the joint processing of data from inertial and range-finding sensors is considered. Such problems are used in robotics, machine-tool control etc. Starting from a floor-mounted robot with inertial range-finding control sensors, in the first part of this work the equations of motion in the presence of measurement noise and control are established. Then, the generalized first approximation Kalman-Bucy filter gives a general approximate equation in matrix form. As an example, for a symmetrical central distribution, these last equations permit to estimate the variance of the system coordinates. In the second part, an algorithm with discrete time is presented for the equations of continuous estimation of the motion. Continuous observation is discussed, and an illustrative example for an inertial range-finding control in a machine-tool is presented. This work can be considered as a notable contribution to the theory of estimation of the three-dimensional motion of a solid.