An adaptive error-based observer method in electro-optical tracking system

Abstract

Electro-optical tracking system which is used to track and aim at targets, is a key equipment in long-distance laser communication, astronomical observation, and so on. And the motion state of the target and the complicated external disturbance often limit the tracking accuracy of the system. In previous studies, target tracking and disturbance suppression are usually discussed separately. In this paper, in order to solve the tracking and disturbance problems together, the error-based observer (EOB) structure was proposed. It is a feedforward control method that only needs an error signal to observe the target trajectory and external disturbances. And it can be used to improve the tracking and anti-disturbance performance of the system without additional sensors. However, in the actual scene, the target motion and external disturbance faced by the electro-optical tracking system are often variable. So an adaptive error-based observer (AEOB) structure based on signal identification and adaptive compensation was proposed, which can reduce the effect of time-varying target motion and narrowband disturbance on tracking accuracy. And the adaptive process of AEOB contains AR parameter model identification with high precision and adaptive feedforward of variable parameter Q filter. In addition, an improved notch Q filter is proposed, which had stronger feedforward capabilities for narrowband signals. Finally, the effectiveness is verified by simulations and experiments of the electro-optical tracking system.