摘要
对于图像采样频率远高于测距重频激光发射频率的一类光电跟踪系统,引入事件触发机制控制量测数据的传输,可在系统估计精度满足允许范围的前提下,减少系统中的通信量和估计中心的计算量.本文针对此类系统设计了基于非线性变换的事件触发机制;为定量的评价系统的估计性能,给出了事件触发机制下系统克拉美–罗下界(Cram′er-Rao lower bound,CRLB)的递推计算式.典型测试场景下的仿真结果和实测航路下的实验结果验证了本文设计的事件触发机制的有效性及实际工程中的可行性.
In some optical-electronic tracking systems, the sampling frequency of target image is considerably higher than the laser emission frequency of laser range finder. The data transmission amount and the computational burden in this kind of optical-electronic tracking system would be reduced if an event-triggered mechanism has been utilized to control the transmission of measurements. The estimation performance of the system could be guaranteed to stay within the allowable range. In this article, an event-triggered mechanism based on a nonlinear transformation has been designed for the aforementioned system. In order to evaluate the estimation performance of the system mentioned above quantitatively,the recursive formula of Cram′er-Rao lower bound(CRLB) for the system with the designed event-triggered mechanism has been proposed. At last, the validity and feasibility of the designed event-triggered mechanism has been verified through simulation under different typical scenarios and experiment under actual air route.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2017年第10期1328-1338,共11页
Control Theory & Applications
基金
国家自然科学基金项目(61273076)资助~~
关键词
光电跟踪系统
事件触发机制
状态估计
克拉美–罗下界
通信量
计算量
optical-electronic tracking system
event-triggered mechanism
state estimation
Cramér-Rao lower bound
data transmission amount
computational burden
