Reduction of encoder measurement errors in UKIRT telescope control system using a Kalman filter

Author

Yang, Yaguang ; Rees, Nick ; Chuter, Tim

Author_Institution

CIENA Corp., Linthicum, MD, USA

Volume

10

Issue

1

fYear

2002

fDate

1/1/2002 12:00:00 AM

Firstpage

149

Lastpage

157

Abstract

The tracking performance of the United Kingdom InfraRed Telescope (UKIRT) is directly related to the accuracy of the position measurement which is given by an encoder. It is found that the encoder has some deterministic and random measurement errors which cause consistent "wobbling" of the telescope. Therefore, a Kalman filter with deterministic error input model is adopted in this embedded real-time control system to reduce both deterministic and random measurement error effects. Our extensive test shows that the system tracking performance is improved. Astronomers\´ report confirms our result

Keywords

Kalman filters; astronomical telescopes; embedded systems; filtering theory; infrared astronomy; measurement errors; position control; IR telescope; Kalman filter; UKIRT telescope control system; United Kingdom InfraRed Telescope; deterministic error input model; deterministic measurement errors; embedded real-time control system; encoder measurement errors reduction; position measurement; random measurement errors; wobbling; Astronomy; Charge coupled devices; Control systems; Error correction; Instruments; Kernel; Measurement errors; Real time systems; Target tracking; Telescopes;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.974348

Filename

974348