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将扩张状态观测器和递归线性平滑牛顿预测器相结合,形成了一种新型的速度和加速度估计器,它在跟踪位移和估计速度的同时能一并估计出加速度。虽然扩张状态观测器本身对量测噪声已经具有较好的滤波特性,但为了减小时间延迟,不能使滤波参数过大,这样会使估计出的加速度噪声稍高,需再用递归线性平滑牛顿预测器对加速度进行二次滤波。仿真结果表明,由扩张状态观测器和递归线性平滑牛顿预测器构成的滤波估计器在仅有位置量测信号且在噪声较大的情况下能有效地估计出速度和加速度,最终得到的速度和加速度估计信噪比高且时间延迟小。该估计器主要用于运动控制和机动目标跟踪中。
Combining the extended state observer with the recursive linearly-smoothing Newton predictor, a new type of velocity and acceleration estimator is formed, which can estimate the acceleration along with the tracking of the displacement and the estimation of the velocity. Although the extended state observer itself has good filtering characteristics for measuring noise, in order to reduce the time delay, the filtering parameters can not be made too large, so that the estimated acceleration noise will be slightly higher, and the recursive linear smoothing Newton The predictor filters the acceleration twice. The simulation results show that the filter estimator constructed by the extended state observer and the recursive linear-smoothing Newton predictor can effectively estimate the velocity and acceleration under the conditions of only the position measurement signal and the noisy condition. The resulting velocity sum Acceleration estimation High signal to noise ratio and small time delay. The estimator is mainly used in motion control and maneuvering target tracking.