基于传感器融合预测的改进跟踪前馈控制方法研究  

Research on improved tracking feedforward control method based on sensor fusion prediction

作　　者：李航 彭高亮 林鸿钊[1,2] 陈朝 Li Hang;Peng Gaoliang;Lin Hongzhao;Chen Zhao(State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150001,China;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《红外与激光工程》2023年第5期415-425,共11页Infrared and Laser Engineering

基　　金：国家自然科学基金(52275099)。

摘　　要：针对光电跟踪系统中CCD相机反馈帧率较低,延迟较大导致跟踪高速目标能力差、响应能力差的问题,提出一种基于传感器融合预测的改进跟踪前馈控制方法。为减小融合获得目标高阶运动状态噪声大的问题,提出一种基于微分跟踪的传感器融合策略;针对图像反馈延迟问题,提出一种降阶匀加速Kalman模型,根据融合获得的运动学信息,结合Kalman滤波进行预测跟踪,补偿脱靶量的时间延迟,得到近似真实的目标位置和速度、加速度信息;针对低频输入信号引入闭环扰动问题,提出一种快速数据扩展方法,实现低频信号到高频信号的扩展;根据传感器融合预测结果,设计跟踪前馈控制器,提高系统的响应速度。仿真结果和实验结果均表明该前馈方法能够对CCD反馈延迟导致的跟踪误差进行补偿。实验结果表明:该方法能够大幅提高系统对高速目标的跟踪性能,在目标运动状态相同条件下,相比补偿前跟踪误差减小约83.67%。Objective Photoelectric tracking system(Acquisition,Tracking,and Pointing,ATP)is a kind of equipment that uses photoelectric technology to realize the pointing and tracking of the target.It has the characteristics of high measurement and tracking accuracy.The existing ATP system usually carries precise optical systems and detectors,which can accurately locate,track and aim the target.For high-speed target tracking system,the time delay of sensor feedback such as image becomes the main factor that restricts the upper limit of tracking speed of the system.The delay link of system feedback has become the bottleneck restricting the improvement of ATP system's tracking ability.Therefore,an improved tracking feedforward control method is proposed based on sensor fusion prediction to solve the problem of ATP tracking high-speed targets.Methods Firstly,the CCD and high-precision encoder are fused with sensor data,and the target motion state is tracked according to the differential tracking principle to obtain the high-order information of the target motion,and the noise caused by the difference is greatly reduced.Secondly,a reduced-order CA model is proposed to reduce the computation and estimation parameters,and compensate the pure delay link of miss distance according to the Kalman filter principle to obtain the low-delay target motion state information.Thirdly,the least-squares polynomial fitting is performed only by combining the results of the previous moment,which avoids the problem of ill conditioned matrix in the least-squares,and can greatly reduce the calculation amount of fitting,and realize the expansion of CCD feedback from low frequency signal to high frequency signal.Finally,according to the prediction results and higher-order motion information,a tracking feedforward control loop is designed to improve the response speed and tracking ability of the system.Results and Discussions A new control method for ATP system to track high-speed targets is proposed.The high-order motion information of the target is o

关 键 词：预测滤波 前馈控制 传感器融合 最小二乘多项式拟合 跟踪补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]