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Quaternion-based filtering for gyroless attitude estimation without an attitude dynamics model

Zhang S., Xing F., Sun T., You Z.

Metrology and Measurement Systems

2018

Vol. 25, nr 3

631--643

Conventionally, the filtering technique for attitude estimation is performed using gyros or attitude dynamics models. In order to extend the application range of an attitude filter, this paper proposes a quaternion-based filtering framework for gyroless attitude estimation without an attitude dynamics model. The attitude estimation system is established based on a quaternion kinematic equation and vector observation models. The angular velocity in the system is determined through observation vectors from attitude sensors and the statistical properties of the angular velocity error are analysed. A Kalman filter is applied to estimate the attitude error such that the effect from the angular velocity error is compensated with its statistical properties at each sampling moment. A numerical simulation example is presented to illustrate the performance of the proposed algorithm.

Enhancing SO2 removal efficiency by lime modified with sewage sludge in a novel integrated desulfurization process

Qin L., Han J., Chen W., Liu Z., He M., Xing F.

Environment Protection Engineering

2017

Vol. 43, nr 4

17--27

In China, the sintering process annually emitted around 1.5 million t SO2, representing 70% of SO2 produced from the iron and steel industry. Lime based sorbent was modified with municipal sewage sludge (MSS) and the influence of the modification on the desulfurization efficiency was investigated in a laboratory-scale novel integrated desulfurization (NID) reactor. The properties of modified sorbent were characterized by the Brunauer–Emmett–Teller (BET) analyzer and X-ray fluorescence (XRD) analyzer. BET surface area was increased from 17.48 to 46.68 m2g–1. when the MSS/lime ratio increased from 0 to 0.08. Ca4Al8Si8O32, Ca1.5SiO3.5, Na2Si2O5 and CaSiO3 found in the modified lime benefited for the increase of the BET surface area and pore volume. The effects of sewage sludge/CaO weight ratio, calcination temperature and hydration time on the desulfurization efficiency were also studied. SO2 removal efficiency was increased from 88.7% to 97.3% after using the lime modified with sewage sludge.