CN109085376B - Target speed self-adaptive estimation method - Google Patents

Target speed self-adaptive estimation method Download PDF

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CN109085376B
CN109085376B CN201810946930.4A CN201810946930A CN109085376B CN 109085376 B CN109085376 B CN 109085376B CN 201810946930 A CN201810946930 A CN 201810946930A CN 109085376 B CN109085376 B CN 109085376B
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moving speed
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CN109085376A (en
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李泽琦
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Dongyang Weichuang industrial product design Co., Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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Abstract

The invention discloses a target speed self-adaptive estimation method, which comprises three basic steps of initialization, reading a positioning result and calculating the moving speed; the global positioning system is utilized to actively consider the positioning error obtained at each moment when calculating the moving speed, so that the error of the moving speed obtained by the differential operation of the positioning results at two different moments is calculated, and the real-time evaluation of the precision of the speed estimation is realized; by adaptively adjusting the delay coefficient, the upper bound control of the error of the mobile speed estimation is realized, or the upper bound is minimized. The invention can be applied to the estimation of the moving speed of land vehicles, field robots, underwater robots, ships, aircrafts and pedestrians.

Description

Target speed self-adaptive estimation method
Technical Field
The present invention relates to signal processing technology, and in particular, to a target speed adaptive estimation method.
Background
In many applications, it is necessary to obtain the moving speed of the object, i.e. the speed component values thereof relative to the east and north directions, in real time. One common approach is to acquire velocity using a velocity detector mounted on the target. For a ground mobile robot, as shown in the document "duyingcai, wangxiejun, wangsujie, luck, lianglihui" incremental encoder automatic detection system [ J ]. electronic measurement and instrument bulletin, 2012,26(11):993 + 998 ", we can use an encoder to detect the rotation speed of a motor, and further calculate the moving speed of the robot relative to each direction. For non-wheel moving objects such as ships, aircrafts and the like, such as the documents' Huangsheng, Huyang, a non-water resistance ship speed measuring instrument, the application number is as follows: 02138887.3 ", the velocity may be integrated using an accelerometer. Since the accelerometer has some error, its integral amplifies the error, so its velocity estimate will gradually shift from its true value over time. In the document "Chenfengxiang, shu Ling, Zhoosu, octopus, a method and a device for measuring the ship speed of a brushless direct current motor ship, the application number is as follows: 201210097040.3 discloses a method for estimating the speed of a ship by using the rotation speed of a propulsion motor of the ship, which is easily affected by the environment of the water area and has weak robustness to environmental changes. A relative movement speed detection method of a ship is disclosed in the literature ' Wangbang, Dian nature spring, Zhao Zhen Qiang ' research on electromechanical equipment, 2011,28(05):26-28 ', and the scheme provides a new relative movement speed detection method of the ship based on a correlation ultrasonic sensor by analyzing advantages and disadvantages of a photoelectric encoder detection method and a laser ranging detection method, and particularly designs a relative time difference speed measurement scheme for improving the detection precision of the method.
The above method utilizes an internal sensor mounted on the target to detect or estimate the moving speed, and in some cases, we can only obtain the moving speed of the target through an external sensor, for example: and acquiring the moving speed of the pedestrian by using the camera. In the document, "Lizhong, Wujunjie, Sun Yangyao, Yanhai, Huangyulin, Yangjiayu, bistatic forward-looking SAR moving target imaging method and moving target speed estimation method, application number: 201410136027.3 discloses a double-base forward-looking SAR moving target imaging method and a moving target speed estimation method based on mismatch compression, which can complete the estimation of the moving target speed and obtain the distance direction moving speed and the azimuth direction moving speed. In the document "he yutong, zhao shan lin, a target object velocity calculation method based on monitoring equipment, application No.: 201611078538.X "discloses a target speed calculation method based on a monitoring device, which is used for calculating the speed of a target according to a video image shot by the monitoring device installed on a running vehicle, acquiring the relative position of the target and the running vehicle, and finally calculating the running speed of the target according to the change situation of the relative position of the target and the running vehicle. In the document "hu shui, li de min, pai ren lin, wu schen. mobile user velocity estimation and optimization design of location area [ J ] microcomputer information, 2005(20):71-72+ 192", a method is disclosed for predicting the velocity of a mobile user in real time by data acquisition and parameter estimation using a gaussian-markov model as a motion model.
The difference operation using the positioning result is a commonly used speed estimation method, and since a positioning system has a certain error and has a large influence on the speed estimation, the parameters of the speed estimation need to be adjusted in real time to control the upper limit of the speed estimation error. However, the prior art documents do not take this problem into account.
Disclosure of Invention
In order to solve the above problems, the present invention discloses a target speed adaptive estimation method, which comprises the following steps:
step 1, initialization: setting a sampling point T to be 0, and determining sampling time T and a judgment threshold value mu according to actual conditions;
step 2, the sampling point is automatically increased by 1, and then the positioning result at the sampling point t is read from the positioning equipment
Figure GDA0002501261890000021
With corresponding error envelope matrix RtWherein the symbol' represents a transpose,
Figure GDA0002501261890000022
as a result of the positioning of the east coordinates,
Figure GDA0002501261890000023
for the positioning result of the north coordinates, RtIs a 2-dimensional diagonal matrix and satisfies
Figure GDA0002501261890000024
Wherein the content of the first and second substances,
Figure GDA0002501261890000025
is shown in
Figure GDA0002501261890000026
Centered on RtEllipsoid, theta, of envelope matrixt＝(xt,yt) ' denotes the true position coordinates, xtRepresenting true east coordinates, ytRepresenting true north coordinates;
step 3, obtained according to step 2
Figure GDA0002501261890000027
And RtThe moving speed is estimated as follows
3.1 set delay coefficient τ to 1, set ZtIs empty;
3.2 reckoning at sample point tSpeed of movement
Figure GDA0002501261890000028
As follows
Figure GDA0002501261890000029
Wherein the content of the first and second substances,
Figure GDA00025012618900000210
a vector of 2 × 1, the first element representing the estimated east movement velocity, the second element representing the estimated north movement velocity, and T representing the sample time;
3.3 calculation of
Figure GDA00025012618900000211
Envelope matrix of errors
Figure GDA00025012618900000212
Wherein
Figure GDA00025012618900000213
Wherein tr represents a trace of the matrix;
3.4 calculation of
Figure GDA00025012618900000214
Maximum value of relative error
Figure GDA00025012618900000215
Wherein
Figure GDA00025012618900000216
Figure GDA00025012618900000217
Wherein Q ist(τ)(i,i)Represents Qt(τ) diagonal to the ith element,
Figure GDA00025012618900000218
to represent
Figure GDA00025012618900000219
The ith element of (1);
3.4 if satisfied
Figure GDA00025012618900000220
Wherein mu is a determination threshold, stopping the operation, and outputting
Figure GDA00025012618900000221
The final estimated speed; otherwise, let τ increase by 1 and ζt(τ) is stored in Zt；
3.5 if ZtIs equal to t-1, the operation is stopped and output
Figure GDA0002501261890000031
Is the final estimated speed, wherein
Figure GDA0002501261890000032
Wherein, L (·) represents a two-norm; otherwise, turning to step 3.2;
and 4, repeating the steps 2 to 3, and outputting the speed estimation value of each sampling point.
Compared with the prior art, the invention has the following advantages: the global positioning system is utilized to actively consider the positioning error obtained at each moment when calculating the moving speed, so that the error of the moving speed obtained by the differential operation of the positioning results at two different moments is calculated, and the real-time evaluation of the precision of the speed estimation is realized; by adaptively adjusting the delay coefficient, the upper bound control of the error of the mobile speed estimation is realized, or the upper bound is minimized. The invention can be applied to the estimation of the moving speed of land vehicles, field robots, underwater robots, ships, aircrafts and pedestrians.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
For an object moving in a two-dimensional plane, such as a robot, a vehicle, a ship, a pedestrian, etc., the coordinate of the object at the sampling point t can be represented by thetat＝(xt,yt) ' means that in the absence of a speed detector in order to obtain their moving speed, it can be derived from the positioning results as follows
Figure GDA0002501261890000033
Figure GDA0002501261890000034
Wherein T is sampling time, tau is time delay coefficient,
Figure GDA0002501261890000035
mean moving speeds of the east and north directions at the sampling point t are respectively represented. Can also be integrated into one equation
Figure GDA0002501261890000036
Wherein the content of the first and second substances,
Figure GDA0002501261890000037
however, there is a certain deviation of the positioning system. Order to
Figure GDA0002501261890000038
The result of the positioning is shown,
Figure GDA0002501261890000039
expressing the speed calculation result to obtain an observation equation
Figure GDA00025012618900000310
Suppose that
Figure GDA00025012618900000311
Wherein (theta)t,Rt) Expressed in thetatCentered on RtEllipsoid of the envelope matrix.
Thus, it is possible to obtain
Figure GDA0002501261890000041
Figure GDA0002501261890000042
Figure GDA0002501261890000043
Wherein Q istAnd (tau) is an error envelope matrix of the speed estimation result.
From the top, ellipsoid
Figure GDA0002501261890000044
Is composed of
Figure GDA0002501261890000045
And
Figure GDA0002501261890000046
the direct subtraction of (2) is an outer ellipsoid. To obtain an outer-wrapped ellipsoid of trace minimization, Qt(τ) can be obtained by the following operation
Figure GDA0002501261890000047
Figure GDA0002501261890000048
Further, it can be seen that
Figure GDA0002501261890000049
Figure GDA00025012618900000410
Wherein the content of the first and second substances,
Figure GDA00025012618900000411
to represent
Figure GDA00025012618900000412
The ith element of (1), Qt(τ)(i,i)Represents QtThe ith element of the diagonal in (τ). Therefore, the maximum value of the relative error of the estimated speed in the east and north directions can be obtained
Figure GDA00025012618900000413
Figure GDA00025012618900000414
It is obvious that
Figure GDA00025012618900000415
When the ratio of the water to the oil is small,
Figure GDA00025012618900000416
tends to be large and therefore to control ζtUpper limit of (τ), i.e.
ζt(τ)≤[μ,μ]′, (15)
Where μ is a set threshold, we need to dynamically adjust τ to meet this condition; when this condition cannot be satisfied, ζ is guaranteedt(τ) is as small as possible. The specific method comprises the following steps:
1. setting τ to 1, set ZtIs empty;
2. computing
Figure GDA00025012618900000417
And its corresponding zetat(τ), if satisfied
ζt(τ)≤[μ,μ]′, (16)
Stopping the operation and outputting
Figure GDA00025012618900000418
The final estimated speed; otherwise, let τ increase by 1 and ζt(τ) is stored in Zt；
3. If Z istIs equal to t-1, the operation is stopped and output
Figure GDA0002501261890000051
Is the final estimated speed, wherein
Figure GDA0002501261890000052
Wherein, L (·) represents a two-norm; otherwise, go to step 2.
In summary, we propose a target speed adaptive estimation method, as shown in fig. 1, including the following steps:
step 1, initialization: setting a sampling point T to be 0, and determining sampling time T and a judgment threshold value mu according to actual conditions;
step 2, the sampling point is automatically increased by 1, and then the positioning result at the sampling point t is read from the positioning equipment
Figure GDA0002501261890000053
With corresponding error envelope matrix RtWherein the symbol' represents a transpose,
Figure GDA0002501261890000054
as a result of the positioning of the east coordinates,
Figure GDA0002501261890000055
for the positioning result of the north coordinates, RtIs a 2-dimensional diagonal matrix and satisfies
Figure GDA0002501261890000056
Wherein the content of the first and second substances,
Figure GDA0002501261890000057
is shown in
Figure GDA0002501261890000058
Centered on RtEllipsoid, theta, of envelope matrixt＝(xt,yt) ' denotes the true position coordinates, xtRepresenting true east coordinates, ytRepresenting true north coordinates;
step 3, obtained according to step 2
Figure GDA0002501261890000059
And RtThe moving speed is estimated as follows
3.1 set delay coefficient τ to 1, set ZtIs empty;
3.2 estimate the moving speed at sample point t
Figure GDA00025012618900000510
As follows
Figure GDA00025012618900000511
Wherein the content of the first and second substances,
Figure GDA00025012618900000512
a vector of 2 × 1, the first element representing the estimated east movement velocity, the second element representing the estimated north movement velocity, and T representing the sample time;
3.3 calculation of
Figure GDA00025012618900000513
Envelope matrix of errors
Figure GDA00025012618900000514
Wherein
Figure GDA00025012618900000515
Wherein tr represents a trace of the matrix;
3.4 calculation of
Figure GDA00025012618900000516
Maximum value of relative error
Figure GDA00025012618900000517
Wherein
Figure GDA00025012618900000518
Figure GDA00025012618900000519
Wherein Q ist(τ)(i,i)Represents Qt(τ) diagonal to the ith element,
Figure GDA00025012618900000520
to represent
Figure GDA00025012618900000521
The ith element of (1);
3.4 if satisfied
Figure GDA0002501261890000061
Wherein mu is a determination threshold, stopping the operation, and outputting
Figure GDA0002501261890000062
The final estimated speed; otherwise, let τ increase by 1 and ζt(τ) is stored in Zt；
3.5 if ZtIs equal to t-1, the operation is stopped and output
Figure GDA0002501261890000063
Is the final estimated speed, wherein
Figure GDA0002501261890000064
Wherein, L (·) represents a two-norm; otherwise, turning to step 3.2;
and 4, repeating the steps 2 to 3, and outputting the speed estimation value of each sampling point.
The above examples are provided only for the purpose of describing the present invention, and are not intended to limit the scope of the present invention. The scope of the invention is defined by the appended claims. Various equivalent substitutions and modifications can be made without departing from the spirit and principles of the invention, and are intended to be within the scope of the invention.

Claims (1)

1. A method for adaptively estimating a target speed, comprising the steps of:
step 1, initialization: setting a sampling point T to be 0, and determining sampling time T and a judgment threshold value mu according to actual conditions;
step 2, the sampling point is automatically increased by 1, and then the positioning result at the sampling point t is read from the positioning equipment
Figure FDA0002501261880000011
With corresponding error envelope matrix RtWherein the symbol' represents a transpose,
Figure FDA0002501261880000012
as a result of the positioning of the east coordinates,
Figure FDA0002501261880000013
positioning results for north coordinates，RtIs a 2-dimensional diagonal matrix and satisfies
Figure FDA0002501261880000014
Wherein the content of the first and second substances,
Figure FDA0002501261880000015
is shown in
Figure FDA0002501261880000016
Centered on RtEllipsoid, theta, of envelope matrixt＝(xt,yt) ' denotes the true position coordinates, xtRepresenting true east coordinates, ytRepresenting true north coordinates;
step 3, obtained according to step 2
Figure FDA0002501261880000017
And RtThe moving speed is estimated as follows
3.1 set delay coefficient τ to 1, set ZtIs empty;
3.2 estimate the moving speed at sample point t
Figure FDA0002501261880000018
As follows
Figure FDA0002501261880000019
Wherein the content of the first and second substances,
Figure FDA00025012618800000110
a vector of 2 × 1, the first element representing the estimated east movement velocity, the second element representing the estimated north movement velocity, and T representing the sample time;
3.3 calculation of
Figure FDA00025012618800000111
Envelope matrix of errors
Figure FDA00025012618800000112
Wherein
Figure FDA00025012618800000113
Wherein tr represents a trace of the matrix;
3.4 calculation of
Figure FDA00025012618800000114
Maximum value of relative error
Figure FDA00025012618800000115
Wherein
Figure FDA00025012618800000116
Figure FDA00025012618800000117
Wherein Q ist(τ)(i,i)Represents Qt(τ) diagonal to the ith element,
Figure FDA00025012618800000118
to represent
Figure FDA00025012618800000119
The ith element of (1);
3.4 if satisfied
Figure FDA00025012618800000120
Wherein mu is a determination threshold, stopping the operation, and outputting
Figure FDA00025012618800000121
The final estimated speed; otherwise, let τ increase by 1 and ζt(τ) is stored in Zt；
3.5 if ZtIs equal to t-1, the operation is stopped and output
Figure FDA00025012618800000122
Is the final estimated speed, wherein
Figure FDA00025012618800000123
Wherein, L (·) represents a two-norm; otherwise, turning to step 3.2;
and 4, repeating the steps 2 to 3, and outputting the speed estimation value of each sampling point.
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