|Table of Contents|

Parameter identification method of motion platform of helmet mounted display servo system(PDF)

《交通运输工程学报》[ISSN:1671-1637/CN:61-1369/U]

Issue:
2015年05期
Page:
72-84
Research Field:
载运工具运用工程
Publishing date:

Info

Title:
Parameter identification method of motion platform of helmet mounted display servo system
Author(s):
LI Peng1;  GU Hong-bin2;  WU Dong-su2
1. School of Automobile and Traffic Engineering, Nanjing Forestry University, Nanjing 210037, Jiangsu, China; 2. School of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, Jiangsu, China
Keywords:
helmet mounted display servo system;  parameter identification;  EKF;  UKF;  continuous-discrete hybrid system
PACS:
U467.13
DOI:
-
Abstract:
The nondeterminacies and time-varying characteristics of parameters for motion platform of helmet mounted display servo system(HMDSS)were analyzed, the identification processes of continuous-discrete extended Kalman filter(CDEKF)and continuous-discrete square-root unscented Kalman filter(CDSR-UKF)were derived, the parameter identification model of motion platform of HMDSS was presented based on the system dynamics model, and the identification effects of CDEKF and CDSR-UKF were compared by simulation. The mutation experiment of parameters for motion platform was designed and implemented to verify the practicability of CDSR-UKF. Simulation result indicates that the standard error ratios, convergence time ratios and root mean square error ratios of CDEKF to CDSR-UKF are 1.9-6.3, 1.0-27.7 and 1.4-11.0, which means that CDSR-UKF has higher identification precision, stability and convergence velocity than CDEKF. The average convergence time of CDSR-UKF is about 0.002 s, so CDSR-UKF has better capacity of real-time identification. The online estimation error of CDSR-UKF is less than 10%, and the convergence times against large parameter mutation and normal parameter mutation are about 0.30 s and 0.04 s respectively, so CDSR-UKF can well trace changing processes of identification parameters and satisfy parameter identification requirements of motion platform of HMDSS in normal usage environment. 5 tabs, 30 figs, 26 refs.

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Last Update: 2015-10-20