Abstract
Micro-electro-mechanical system (MEMS) gyro is one of the extensively used inertia sensors in the field of optical target tracking (OTT). However, velocity closed-loop bandwidth of the OTT system is limited due to the resonance and measurement range issues of MEMS gyro. In this paper, the generalized sensor fusion framework, named the closed-loop fusion (CLF), is analyzed, and the optimal design principle of filter is proposed in detail in order to improve measurement of the bandwidth of MEMS gyro by integrating information of MEMS accelerometers. The fusion error optimization problem, which is the core issue of fusion design, can be solved better through the feedback compensation law of CLF framework and fusion filter optimal design. Differently from conventional methods, the fusion filter of CLF can be simply and accurately designed, and the determination of superposition of fusion information can also be effectively avoided. To show the validity of the proposed method, both sensor fusion simulations and closed-loop experiments of optical target tracking system have yielded excellent results.
Highlights
The attitude measurement technology of the optical target tracking (OTT) system, which is key to achieving high-precision laser control, has been extensively studied [1,2,3]
The elimination of micro-electro-mechanical system (MEMS) gyro resonance and the expansion of measurement range are realized by closed-loop fusion (CLF)
CLF is a high-performance fusion method for multi-sensor fusion technology are realized by CLF
Summary
The attitude measurement technology of the optical target tracking (OTT) system, which is key to achieving high-precision laser control, has been extensively studied [1,2,3]. To overcome the shortcomings of the aforementioned methods, Algrain proposed an alternative method called closed-loop fusion (CLF) [17] In this method, the measurement data of the lowbandwidth sensor and the high-bandwidth sensor are adjusted by a closed-loop filter. Compared to the above method, it does not require an accurate model or transfer function of the sensor, and the feedback compensation structure can effectively eliminate the drift error He did not point out a reasonable design method for the closed-loop filter. If the closed-loop bandwidth of corrector is too high, the high frequency will affect the low frequency correction term and invalidate the correction With this in mind, we proposed an optimized design guide for CLF filters.
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