Acceleration feedforward method based on sensor and model fusion

A technology of model fusion and acceleration, applied in the direction of electric speed/acceleration control, etc., can solve the problems of noise, lag, low frequency drift of acceleration, etc., to achieve good tracking performance and improve tracking performance.

Inactive Publication Date: 2019-07-19
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is: how to improve the tracking accuracy of a photoelectric tracking system with only an image sensor and an accelerometer, and the image sensor has low sampling rate and time lag, while the acceleration has low-frequency drift and noise

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  • Acceleration feedforward method based on sensor and model fusion
  • Acceleration feedforward method based on sensor and model fusion
  • Acceleration feedforward method based on sensor and model fusion

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Embodiment Construction

[0023] Embodiments of the present invention are described below in conjunction with the accompanying drawings. But following embodiment only limits to explain the present invention, and protection scope of the present invention should include the whole content that claim limits; And promptly can realize the whole content of claim of the present invention to those skilled in the art through following embodiment.

[0024] The research object of the embodiment of the present invention is figure 1 The inertial stabilized platform of the simulated electro-optical tracking system is shown. The sensor of the system has an image detector and an accelerometer, driven by a voice coil motor. The control block diagram of this system is as follows figure 2 As shown, the acceleration characteristics of the system are composed of a proportional link, a second-order differential link, a second-order resonance link and an electrical inertia link, and its transfer characteristics can be descr...

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Abstract

The invention provides an acceleration feedforward method based on sensor and model fusion. Aiming at the problems that the tracking capacity of a photoelectric tracking system is limited by the lag of target miss distance and real-time accurate information such as position, speed, acceleration and the like of a target cannot be directly provided, the method provided by the invention is characterized in that the sensor information of linear acceleration arranged on the system and the target miss distance information detected by the system are fused and subjected to predictive filtering to obtain the acceleration information of the target relative to a platform, and finally the information is fed into an acceleration closed loop of the system to form acceleration feedforward. According to the method, the real-time target acceleration estimation information is fed into the system, so that the low-frequency tracking capability of the system can be improved.

Description

technical field [0001] The invention belongs to the field of tracking control of photoelectric systems, and specifically relates to an acceleration feedforward method based on fusion of sensors and models, which is mainly used for the acceleration achieved by photoelectric tracking systems that have certain tracking performance requirements for the system when the system sensors are limited. Feedforward control. Background technique [0002] Photoelectric tracking systems are widely used in scientific fields such as quantum communication, adaptive optics, astronomical observation, and target tracking. For target tracking technology, the most researched and effective control algorithms are still the feedforward control and High type of multi-closed-loop feedback control. In multi-closed-loop feedback control, the inner loop is mainly used to suppress internal disturbances and improve the linearity of the system. The target tracking performance mainly depends on the feedback ...

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Application Information

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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 何秋农毛耀段倩文聂康乔琦邓久强
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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