Continuous Estimation of CG, Inertial and Loading

Period of Performance: 01/15/2014 - 11/14/2014


Phase 1 SBIR

Recipient Firm

Archangel Systems, Inc.
1635 Pumphrey Ave.
Auburn, AL 36832
Principal Investigator


Archangel Systems, Inc. proposes a feasibility study of a technical and forward-thinking solution for optimized vehicle loading: the Continuous Estimation of CG, Inertial and Loading CECIL). The investigation considers the needed caliber and optimum distribution of inertial and load sensors and the quantifying modal analysis algorithm options for continuous monitoring of CG and load. Inertial sensor(s) with and without the addition of load sensors are simulated using a full vehicle model to monitor vehicle weight and dynamics both during the loading process and during operation. Simulated measurements and algorithms extracts total load, load distribution, CG in three dimensions, and how all three change throughout the mission. Algorithms use Fast Fourier Transform to detect modal signature changes in vehicle s dynamics in real time which are mapped to CG shifts and weight changes. This investigation compares optimized conventional methods of load sensors for weight estimation to the proposed inertial method to show a full picture of feasibility. Furthermore, algorithms project the vehicle dynamics forward in time and input the future vehicle state to a 3-D model for the vehicle s stability along with the CG and loading measures. The model computes future rollover risk and alerts the crew before rollover is imminent.