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This formula is designed to decrease the Kalman gain as the acceleration magnitude increases For t [698, 75], the ag indicates that the system is accelerating, which inhibits Kalman lter corrections during that time frame Also in that time frame, the e ect of the motion is clearly evident at least in the graph of the second residual By inhibiting the Kalman lter while accelerating, the acceleration noise on the gravity estimate does not a ect the AHRS attitude estimate Because we do not know the true roll and pitch angles, to assess the estimation accuracy, we compare the estimated angles at three times when

The process of setting the properties is easy Understanding which properties you should set is the real issue You might never touch some of the properties, but some of them are critical and you must set them if you want to produce the most effective and complete model Others are important to understand so that you can properly maintain your models

Relativistic speeds that is, speeds high enough to cause significant time dilation cause objects to appear foreshortened in the direction of their motion As with time dilation, relativistic spatial distortion occurs only from the point of view of an observer watching an object speed by at a sizable fraction of the speed of light

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For every query item that you have included in your model, you should review the following properties to make sure that the query item behaves the way you want it to when it is used in a report If you take the time to set these properties on the query items in your data source query subjects, then all of the model query subjects that include those query items will inherit the settings you have made You can always override those settings in your model query subjects, if necessary

Figure 105: Attitude for t [70, 140]s Roll is plotted as a solid curve Pitch is plotted as a dashed curve Top Roll and pitch as estimated by the presented AHRS approach Bottom Roll and pitch as computed by eqns (1068 1069) the IMU is placed in the same location with the same orientation as it was initialized Figures 107 and 108 plot the attitude angles for two such time ranges For Figure 107 the IMU is not being handled for t [140, 144]s For Figure 108 the IMU is not being handled for t [248, 255]s The mean and standard deviation of the roll and pitch in each of these time intervals is displayed in Table 101 Based on those results, it is reasonable to conclude that the system is accurate to better than 05 degree during this experiment, after initialization The only evidence to the contrary is the near one degree roll correction at t = 13834 seconds

Usage One of the most helpful features of reporting in Cognos 8 is that it will autosummarize for you This means that it will automatically summarize the numeric values while grouping by the descriptive information For instance, if a report writer adds Product Line, Year, and Revenue to a report, Cognos 8 will assume that the desired result is to group by the product lines and the years, and to show the total revenue for those groupings, rather than show the detailed rows of every sale with the Product Line, Year, and Revenue of that sale Normally, the summarized view is what a user wants, so this is good How does Cognos 8 know what to do when it tries to auto-summarize The Usage property on the query items drives the behavior More exactly, the Usage setting determines the default behavior of the query item when it is brought into a report The report writer can always change the behavior, but it is best to have the properties set for the usual case to reduce the amount of work that needs to be done across all reports

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