Novel Velocity and Acceleration Estimator
XU Xin-he · Jisuanji fangzhen · 2008
A new approach based on extended state observer(ESO) and recursive linear smoothed Newton predictors(RLSN) to track position signal and estimate the velocity and acceleration at the same time is presented.Although ESO itself can attenuate measurement noise due to its filtering characteristic,the filter parameter shouldn’t be very large to decrease time delay,after filtering with ESO,if the signal-to-noise ratio(SNR) of acceleration signal is low,the secondary filter is performed by RLSN with noise attenuation capabilities.The result of simulation shows that the estimator composed of ESO and RLSN can effectively estimate velocity and acceleration with higher SNR and less time delay under the only one position signal with higher measurement noise.This type of estimator is mainly used for motion control and tracking of maneuvering targets.