Multi-dimensional sensor iterative dynamic decoupling method based on pre-matrix

A dynamic decoupling and sensor technology, applied in the field of dynamic decoupling technology, can solve problems such as the inability to reduce the dynamic coupling error between sensor dimensions

Active Publication Date: 2019-10-29
HEFEI UNIV OF TECH
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Problems solved by technology

[0008] The present invention aims to solve the problem that the existing sensor iterative dynamic decoupling method may still have iterative divergence when targeting high-dimensional and strongly coupled sensors, so that the dynamic coupling erro

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  • Multi-dimensional sensor iterative dynamic decoupling method based on pre-matrix
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  • Multi-dimensional sensor iterative dynamic decoupling method based on pre-matrix

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[0063] The present invention will be further described below in conjunction with accompanying drawing:

[0064] The design idea of ​​the present invention is: for the iterative divergence problem and slow convergence problem that may exist when the iterative dynamic decoupling method that can realize full decoupling is used to dynamically decouple the multi-dimensional force sensor, take Jacobi, Gauss-Seidel, SOR Based on three iterative calculation methods, from the perspective of reducing the spectral radius of the iterative matrix, the pre-matrix P is introduced to preprocess the output coupling matrix H of the sensor, the coupling output relationship of the sensor is changed, and an iterative dynamic decoupling based on the pre-matrix P is constructed. formula to reduce the spectral radius of the iterative matrix through the pre-matrix P, thereby improving the convergence characteristics of the iterative dynamic decoupling of the sensor; the pre-matrix P adopts a diagonal t...

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Abstract

The invention relates to a multi-dimensional sensor iterative dynamic decoupling method based on a pre-matrix. The iterative dynamic decoupling equation of the sensor is constructed by introducing thepre-matrix, the spectral radius of the iterative matrix is reduced, and the convergence is improved, so that the output of the sensor is dynamically decoupled, and a feasible improvement method is provided for iterative dynamic decoupling of a high-dimensional and strong-coupling sensor. Firstly, according to an output coupling transfer function matrix of a sensor, a pre-matrix is introduced, thecoupling output relation of the sensor is transformed, and an iterative dynamic decoupling equation based on the pre-matrix is constructed; secondly, corresponding pre-matrixes are constructed for different iterative dynamic decoupling equations, so that the spectral radius of an iterative matrix is reduced; then, an iterative equation with the smallest iterative matrix spectral radius is selected as a final iterative dynamic decoupling equation of the sensor; and finally, the actual output of the sensor is dynamically decoupled by adopting the selected iterative dynamic decoupling equation according to the output coupling transfer function matrix of the sensor, so as to reduce the dynamic coupling error.

Description

technical field [0001] The present invention relates to a dynamic error correction technology for sensors, in particular to a dynamic decoupling technology for reducing inter-dimensional dynamic coupling errors of multi-dimensional sensors. By introducing a pre-matrix, the spectral radius of the iterative matrix for iterative decoupling of multi-dimensional sensors is reduced to improve high Convergence performance of iterative dynamic decoupling for dimensional and strongly coupled sensors. Background technique [0002] Multi-dimensional sensors have multiple measurement input channels and multiple output channels, and there are often couplings between measurement channels, including static coupling and dynamic coupling. Among them, dynamic coupling is an important source of sensor dynamic measurement error. Let the input vector of n-dimensional sensor be U=[u 1 , u 2 , u 3 ,...,u n ] T , the output vector of each measurement channel without coupling interference is X...

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Application Information

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IPC IPC(8): G06F17/10G06F17/16
CPCG06F17/10G06F17/16
Inventor 杨双龙杨睿王俊翔邵春莉徐科军谷恒丁瑞好黄云志
Owner HEFEI UNIV OF TECH
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