Kalman filter sensor fusion for multi-head position encoder

This paper presents an Kalman Filter Data Fusion methodology and investigation for high dynamics and high precision multi-head angular position encoder. The proposed algorithm based on measurement of four dependent Read Heads and encoder ring for one mechanical shaft of high precision system with electric drive. The global fusion of proposed estimation provide computed value of position and additional important information about speed and sum of disturbances, which can be used for further control. The performances of proposed fusion algorithm compared into other known industrial methods, with leading effects.