A closed-loop estimator for the motion parameters of a vehicle is derived. A baseband type of the delay-locked-loop (DLL), which was developed for noncontact range, speed, and acceleration measurement by means of two signals generated by spatially separated infrared sensors, is discussed. It is shown that, in the sense of local variance, the DLL performs equally as well as the maximum-likelihood estimator, whereas the implementation cost can be reduced considerably. To obtain an unbiased estimate under meaningful signal model assumptions, a dynamical state estimator was implemented for the above quantities. The state model is linear, whereas the measurement equation is highly nonlinear. To perform this nonlinear output operation, a numerical controlled oscillator (NCO) was developed. The NCO works with normalized exponential representation of the control number that allows one to match the loop to a wide range of the sampling rate via gain scheduling. An all-digital implementation of the estimator and results of a field test are presented.
An all-digital realization of a baseband DLL implemented as a dynamical state estimator
Eine vollkommen digitale Realisierung eines Verzoegerungsregelkreises vom Basisbandtyp, der als dynamischer Zustandsschaetzer implementiert ist
IEEE Transactions on Acoustics, Speech and Signal Processing ; ASSP-34 , 3 ; 535-545
1986
11 Seiten, 10 Quellen
Aufsatz (Zeitschrift)
Englisch
SIGNALPROZESSOR , GESCHWINDIGKEITSMESSUNG , SIGNALVERARBEITUNG , FAHRZEUG , BESCHLEUNIGUNGSMESSUNG , KRAFTFAHRZEUGELEKTRONIK , SCHAETZUNG , REGELKREIS , VERZOEGERUNGSGLIED , ZUSTANDSREGELUNG , BASISBAND , INFRAROTDETEKTOR , OSZILLATOR , ABTASTFREQUENZ , DIGITALSCHALTUNG , NUMERISCHE STEUERUNG , WEGMESSUNG , INFRAROTSENSOR
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