一种基于最小二乘法的加速度估计方法

A Novel Acceleration Estimation Algorithm Based on Least Square Method

加速度是运动控制的关键信号,根据速度计算或估计是获得加速度的主要方法。文章基于测量速度中信号和噪声的关系,推导了描述速度增量、真实加速度和噪声之间关系的数学模型,提出了将真实加速度作为模型参数,用递推最小二乘法对加速度进行估计的方法,并通过仿真验证了该方法的有效性。

Acceleration signal plays an important role in motion control systems, One of the main ways to obtain the acceleration is to calculate or estimate it from measured velocity. It deduced a mathematical model describing the relationship among velocity increments, true acceleration and noises based on the relationship between the signal and noise in the measurement speed. Regarding the true acceleration as an unknown parameter of the model, it proposed to estimate the acceleration by using the extended recursive least square method. Finally, it verified the effectiveness of the acceleration estimation method by simulation.