Research on the Comprehensive Processing Method of Measurement Information Based on Multi-Source Sensor

In order to solve the problems of tracking accuracy and servo performance degradation caused by the lagging measurement information and amplitude mismatch of the heterogenous sensor in the photoelectric pod system, a high-precision comprehensive processing method based on multisource sensor measurement information is proposed in this paper according to the typical control loop of the photoelectric tracking system. Firstly, based on the optimal estimation theory, the output miss distance of the tracker is pre estimated to solve the problem of insufficient estimation of target position accuracy and high speed noise. Then, in view of the information mismatch between the angle sensor and the angular velocity sensor, the nonlinear tracking differentiator is used to get the angular velocity of the angle sensor and make a difference with the measured value of the angular velocity sensor. Finally, the amplitude and delay of the measurement information are adjusted adaptively according to the size of the root mean square of the difference value until the difference value is minimized. The algorithm was applied to the stable tracking experiment of a certain type of pod, and the results showed that the tracking accuracy increased from
$92\ \mu \text{rad}$
to
$54\ \mu \text{rad}$
, which significantly improved the tracking accuracy of the system and proved the effectiveness of the algorithm. The method proposed in this paper can be quickly applied to other photoelectric systems, and has reference significance[1].