An Optimal Closed-Loop Fusion Method for Different Bandwidth Sensors
A fusion method and sensor technology, applied in the direction of instruments, adaptive control, control/adjustment systems, etc., can solve problems such as difficulty in obtaining optimal values, fluctuations in frequency handover points, and reduced performance of controllers for fusion data, to achieve expansion Small measurement bandwidth, amplitude and phase, simple effects
Active Publication Date: 2019-05-14
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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[0005] However, the realization idea of this method is to establish a calibrator first, and adjust the parameters of the calibrator to obtain a closed-loop characteristic close to the ideal output. This method is relatively simple to implement, but it is difficult to obtain the optimal value by manually adjusting the parameters, resulting in There is some fluctuation in the frequency handover point, which reduces the performance of the controller using fused data
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[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0022] An optimal closed-loop fusion method of sensors with different bandwidths according to the present invention, the specific steps are as follows:
[0023] Step (1): The present invention utilizes the basic control of closed-loop fusion filtering such as figure 1 As shown, where the high bandwidth sensor adopts G High (s), low bandwidth sensor G Low (s), the fused output features are:
[0024]
[0025] Among them, Y(s) represents the output characteristics of the control system, R(s) represents the input characteristics of the control system, and G C (s) indicates the control system corrector, G Close (s) represents the closed-loop characteristics of the control system, G Restrain (s) represents the system suppression characteristic.
[0026] Step (2): For the signal fed back by the system, the fusion output of the high bandwidth ...
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The invention discloses an optimal closed loop fusion method for different bandwidth sensors. The conventional closed loop fusion control can improve the measurement bandwidth to a certain extent, but this mode needs a method for manually adjusting parameters of a controller, and is difficult to obtain an optimal value, thereby causing some fluctuation at a frequency intersection point, and reducing the performance which employs fusion data. Aiming at the above problems, the invention proposes an optimal closed loop fusion method improving the measurement bandwidth. The idea of the method is opposite to the idea of a conventional method, and the method comprises the steps: building a corrector with parameters; deducing closed loop characteristics of fusion output, so as to take the optimal fusion output as the condition and to solve the parameters of the corrector. The method can effectively enlarge the measurement bandwidth of a low-bandwidth sensor, and exerts little impact on the amplitude and phase.
Description
technical field [0001] The invention belongs to the technical field of stability control, and in particular relates to an optimal closed-loop filter fusion method to realize data fusion of high-bandwidth sensors and low-bandwidth sensors, and expand the inertial measurement bandwidth. Background technique [0002] An inertial stable platform requires a mechanical structure with high resonance frequency, fast response and good linearity. The active stability control loop using sensor feedback can effectively suppress low-frequency disturbances. The wider the bandwidth, the higher the stability capability, but high-bandwidth sensors, such as linear accelerometers, have poor response to low frequencies, and the maximum response frequency of low-bandwidth sensors can only reach 100-200Hz, such as mechanical gyroscope, micro-mechanical gyroscope, tuning fork gyroscope, etc. [0003] In response to the above problems, Hu Haojun of the National University of Defense Technology tri...
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IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 陈静邓超李志俊江彧毛耀
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI