Angular velocity estimation of rotary table bench using aggregate information from the sensors of different physical nature

The paper investigates the estimation errors given by the angular velocity of rotary tables that are based on the angle sensor, the angular velocity sensor, and the tangential as well as centripetal acceleration sensors. Rotary tables are used in the production and research of angular rate sensors, units and systems based on them. The aim is to investigate the possibilities of increasing the accuracy of the rotary table angular velocity estimation due to the aggregation of information about angular velocity sensors of different physical nature. To achieve these goals the objectives of the study of the error probability density distributions for sensors of different physical nature are stated. The article describes the design of the rotary table bench, including the angle, angular velocity as well as tangential and centripetal acceleration sensors. Expressions for estimators of the angular velocity basing on the readings of each sensor are given. It is shown that the least square estimation of the angular velocity is not efficient. Instead, the two step estimation procedure is offered. The first stage consists in the maximum likelihood estimation of the angular velocity by the four mentioned meters. As the result, the total weighted least square estimator of the obtained maximum likelihood estimates is calculated at the second stage. The results of computer simulation comparing the estimation accuracy of the conventional least square and proposed weighted maximum likelihood methods, which confirm the theoretical conclusions, are given.