Accurate estimation of angular position and speed for a capacitive sensor based on an extended Kalman filter approach

The determination of angular position and speed is an important task in the field of robotics. Non-contacting capacitive sensors are often used for industrial applications because of their insensitivity in terms of temperature, vibrations, moist and other environmental influences. This paper presents a new approach for robust and accurate estimation of angular position and speed for capacitive Sensors based on an Extended Kalman Filter (EKF). The new method leads to improved results compared with previously used signal processing algorithms.