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If you want a permanent installation, mount the sensing head assembly so that it is directed away from any large metal obstructions, oriented on a north-south axis, and pointed slightly upwards It s a good idea to fasten it to a heavy wooden post to prevent windinduced vibrations

Question 2-3

(589)

Imagine two sets, one called R and the other called S They share three elements, called x, y, and z However, they both contain elements other than x, y, or z What name can we give to the set {x, y, z}

The decision not to estimate x2 is equivalent to assuming that x2 (0) = 0 and de ning K2 (k) = 0 Therefore, the implemented lter should propagate the covariance matrices for the suboptimal gain vector Lk = K1 0

Answer 2-3

Prior to constructing the Lightning Monitor, you will want to locate a well lit and well ventilated work area A large clean work bench or work table would be suitable for building the project Grab a 27 to 33 watt

Due to the decoupling of the x1 and x2 states in the time propagation equations, the time propagation of the covariance is straightforward: P 11 P 12 P 22 = 11 P+ 11 + Q1 11 = 11 P+ 22 12 = 22 P+ 22 + Q2 22

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The set {x, y, z} contains all the elements that belong to both R and S By definition, the set {x, y, z} is the intersection of R and S, written R S

Question 2-4

Substituting the suboptimal gain vector into the covariance measurement update of eqn (512) yields: P+ 11 P+ 12 P+ 22 = = = (I K1 H1 ) P (I K1 H1 ) K1 H2 P (I K1 H1 ) 11 21 (I K1 H1 ) P H2 K1 + K1 H2 P H2 K1 + K1 RK1 12 22 (I K1 H1 ) P K1 H2 P 12 22 P 22

pencil tipped soldering iron, a roll of 22 gauge 60/40 tin/lead rosin core solder You should also have a small jar of Tip Tinner, a soldering iron tip dresser which is available from your local Radio Shack store You ll probably want to gather a few tools, such as a pair of end-cutters, a small pair of needle-nose pliers, a pair of tweezers, a magnifying glass, a small Phillips screwdriver as well as a small flat-blade screwdriver Place your schematic diagram along with your circuit layout diagram and various charts and tables in front of you on your work table Place your project components and circuit board in front of you and we can begin constructing the Lightning Monitor A printed circuit is highly recommended for building this project rather than trying to use perf-board construction to permit more reliable operation from your circuit Warm up your soldering iron and we will begin construction! Let s begin building the monitor by first identifying the project resistors Locate the resistors from the parts pile Refer to the chart in Table 16-1, which illustrates the resistor color codes and their values Resistor R1, for example, is a 47k ohm 1 4 watt 5% resistor Try and locate it from the parts pile The first color band at one edge of the resistor body should be yellow, which is the number (4) The second color band should be violet or number (7) on the chart The third color band is the multiplier and should be orange in color and

Answer 2-4

1 05 0 004

This region represents the set of all elements in set P, set Q, or both That s the union of sets P and Q, written P Q

Figure 55: Performance of the Schmidt-Kalman Filter from Example 59 The left column of plots shows the error standard deviation of each estimate The right column of plots shows the lter gains

Questions and Answers 2-4 and 2-5

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