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An Adaptive Estimation Method of Target Velocity

An adaptive estimation and target speed technology, applied in the field of signal processing, to achieve the effect of real-time evaluation of accuracy

Active Publication Date: 2020-09-18
东阳市维创工业产品设计有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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  • An Adaptive Estimation Method of Target Velocity
  • An Adaptive Estimation Method of Target Velocity
  • An Adaptive Estimation Method of Target Velocity

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Embodiment Construction

[0033] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] For a target moving on a two-dimensional plane, such as a robot, vehicle, ship, pedestrian, etc., its coordinates at the sampling point t can be expressed by θ t =(x t ,y t )' means that in order to obtain their moving speed and lack of speed detector, it can be calculated from the positioning result, as follows

[0035]

[0036]

[0037] Among them, T is the sampling time, τ is the delay coefficient, Respectively represent the average moving speed of the east direction and north direction at the sampling point t. can also be combined into one equation

[0038]

[0039] in,

[0040] However, there are certain deviations in the positioning system. make Indicates the positioning result, Indicates the result of velocit...

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Abstract

The invention discloses a target speed adaptive estimation method which comprises the three basic steps of initialization, positioning result reading and moving speed calculation. When a global positioning system is utilized to calculate moving speeds, the positioning errors acquired at every moment are considered actively, so that the errors of the moving speeds which are acquired through differentiate operation of the positioning results at two different moments are calculated, and the precise real-time evaluation of speed estimation is achieved. Time delay factors are adaptively adjusted, so that control over the upper error limit of moving speed estimation is achieved, or the upper error limit is minimized. The target speed adaptive estimation method is applicable to moving speed estimation of landing vehicles, field robots, underwater robots, ships, aircrafts and pedestrians.

Description

technical field [0001] The invention relates to signal processing technology, in particular to a target speed adaptive estimation method. Background technique [0002] In many applications, it is necessary to obtain the moving speed of the target in real time, that is, its speed component value relative to the east and north directions. A common method is to use a speed detector installed on the target to obtain the speed. For ground mobile robots, as shown in the document "Du Yingcai, Wang Xijun, Wang Shujie, Lu Xinran, Liang Lihui. Incremental encoder automatic detection system [J]. Journal of Electronic Measurement and Instrumentation, 2012, 26(11): 993-998", We can use the encoder to detect the rotation speed of the motor, and then calculate the moving speed of the robot relative to each direction. For ships, aircrafts and other non-wheel moving objects, as shown in the document "Huang Shengchu, Hu Yang, A speed measuring instrument without water resistance, applicatio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01P3/64
CPCG01P3/64
Inventor 李泽琦
Owner 东阳市维创工业产品设计有限公司