通过自适应的球形目标估计来对移动基线视线跟踪系统进行反线性化控制
Bohan Wu1, Haobo Jia1, Songlin Chen1
1Control and Simulation Center, Harbin Institute of Technology, Harbin, 150001, China.
ISA transactions
|October 14, 2025
概括
本研究介绍了使用移动基线视线 (LOS) 系统追踪机动目标的先进方法,即使有未知的噪音. 新型球形目标估计 (STE) 和变化的贝叶斯卡尔曼自适应波器 (VB-AKF) 显著提高了跟踪精度和稳定性.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 信号处理 信号处理
- 估计理论估计理论
背景情况:
- 在移动基线视线 (LOS) 系统中操纵目标追踪是具有挑战性的,原因是未知的观测噪声和基线运动.
- 传统的方法在基础运动对跟踪误差衍生和测量噪声变化的影响方面扎.
研究的目的:
- 开发一个强大的追踪系统,用于在有未知噪音的LOS系统中对目标进行机动.
- 为了减轻基底运动和测量噪声对跟踪精度的影响.
主要方法:
- 一个全面的系统模型,整合了LOS指点和杆动态.
- 一个反线性化控制系统与一个干扰观察员.
- 一种球形目标估计 (STE) 方法来解基本运动效应.
- 一种可变贝叶斯卡尔曼自适应波器 (VB-AKF) 用于适应性噪声差异估计.
主要成果:
- 拟议的反线性化控制系统的性能优于传统的陀螺仪反系统.
- 这种STE方法有效地消除了基底运动的合效应,而不需要额外的传感器.
- 该VB-AKF减少了由测量噪声差异不匹配引起的估计误差.
- 在Webots机器人模拟器中的模拟证实了开发方法的卓越性能.
结论:
- 先进控制,STE和VB-AKF的综合方法为移动基地LOS系统的目标跟踪操纵提供了显著的改进.
- 提出的方法在复杂的,动态的环境中提供了更高的稳定性和准确性,并且带有非特征性的噪音.
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