面向多时延多频率测量信息的预测显示算法

doi:10.13973/j.cnki.robot.2017.0715

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引用本文:
梁荣健, 张涛, 梁斌, 陈章, 李罡. 面向多时延多频率测量信息的预测显示算法[J]. 机器人, 2017, 39(5): 715-723.DOI: 10.13973/j.cnki.robot.2017.0715. LIANG Rongjian, ZHANG Tao, LIANG Bin, CHEN Zhang, LI Gang. A Predictive Display Algorithm for Multi-Time-Delay Multi-Rate Measurements. ROBOT, 2017, 39(5): 715-723. DOI: 10.13973/j.cnki.robot.2017.0715.

摘要提出了一套能处理多时延、多频率的测量信息和数据缺失问题的预测显示算法，从而充分利用测量信息和提高预测精度．首先通过把部分下传通道时延“移动”到上传通道，把预测显示问题转化为一个标准的滤波问题和一个预测问题，并采用“观测器-预测器”的串联结构解决这2个问题．在观测器中通过重组织新息分析法把多时延的测量信息重组成不包含时延的形式，并借助标记函数来处理异频和缺失的测量信息．仿真实验结果证明了本文预测显示算法的有效性．

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关键词 ：预测, 遥操作, 多时延测量信息, 多频率测量信息, 数据缺失

Abstract：To make full use of measurements and improve the prediction accuracy, a predictive display algorithm is proposed to deal with multi-time-delay multi-rate measurements and missing data. Firstly, some of the delays in downlinks are "moved" to the uplinks, and thus the predictive display problem is converted into a standard filtering problem and a prediction problem, which can be tackled by a serial observer-predictor structure. Then, the re-organized innovation analysis is utilized and extended in the observer to re-organizing the multi-time-delay measurements into the ones without time delay, and the multi-rate measurements as well as missing data are tackled with the help of indication functions. Finally, simulation results show the effectiveness of the proposed predictive display algorithm.

Key words： prediction teleoperation multi-time-delay measurement multi-rate measurement missing data

收稿日期: 2017-03-26 录用日期: 2017-07-20

TP24

基金资助:国家自然科学基金（61673239）；中国博后科学基金（2016T90102）；深圳市科技计划基础研究项目（JCYJ20160428182227081）

通讯作者: 梁斌,bliang@tsinghua.edu.cn E-mail: bliang@tsinghua.edu.cn

作者简介: 梁荣健(1992-),男,硕士.研究领域:机器人控制和人机交互.
张涛(1969-),男,博士,教授.研究领域:机器人控制和人工智能.
梁斌(1968-),男,博士,教授.研究领域:空间机器人在轨服务技术,月球车技术和微小卫星技术.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0715 或 https://robot.sia.cn/CN/Y2017/V39/I5/715

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