Based on the adaptive Kalman filtering algorithm, an estimator for the GPS PN code tracking error with model bias is proposed. 在自适应卡尔曼滤波算法的基础上提出了一种带模型偏差的GPS伪码跟踪误差(TE)估计器。
GPS PN Code Tracking Error(TE) Estimator with Model Bias 一种含模型偏差的GPS伪码跟踪误差(TE)估计器
The load disturbance is estimated and compensated by the speed controller, which effectively removes the static tracking error that would be caused by the disturbance without compensation. 通过速度控制器对负载扰动进行估计和补偿,消除了负载扰动可能带来的稳态跟踪误差(TE)。
First, according to the tracking error dynamics and kinematics described by unit quaternion error and angular velocity error, a sliding mode controller is derived based on Lyapunov theory. 首先根据由误差四元数和误差角速度描述的跟踪误差(TE)动力学和运动学方程,设计了基于李亚普诺夫方法的滑模变结构控制律。
By theoretical analysis, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded with tracking error converging to zero. 理论分析证明了闭环系统是半全局一致终结有界,且跟踪误差(TE)收敛到零。