# Optimal Design Based on Closed-Loop Fusion for Velocity Bandwidth Expansion of Optical Target Tracking System

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## Abstract

**:**

## 1. Introduction

## 2. Closed-Loop Fusion Framework

#### 2.1. Basic Principle of Fusion

#### 2.2. Closed-Loop Fusion Scheme

#### 2.3. Closed-Loop Fusion Design

## 3. Inertial Sensors Fusion Experiment

#### 3.1. Optical Tracking Experimental Platform

#### 3.2. Transfer Function of MEMS Gyro and Compensation Technique

#### 3.3. Transfer Function of MEMS Accelerometers and Compensation Technique

#### 3.4. Closed-loop Fusion Experiment of MEMS Gyro and MEMS Accelerometers

#### 3.5. Velocity Closed-Loop Control Experiment Based on Fusion signal

- (1)
- Use the gyro to realize the inertial stability loop of the system to improve the stability of the system.
- (2)
- The position detector realizes the position tracking loop to ensure the tracking performance of the system.

^{−3}to 1.2 × 10

^{−3}s, and the stability margin can be increased. More advantageous is that the stable platform characteristic of the fusion scheme completely eliminates the influence of gyro resonance, and the amplitude margin can be guaranteed even after the control bandwidth is increased.

## 4. Conclusions

## Author Contributions

## Funding

## Conflicts of Interest

## References

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**Figure 4.**The result of multiplying two transfer functions when cut-off frequency differ greatly: (

**a**) Low-pass product results; (

**b**) High-pass product results.

**Figure 10.**The frequency characteristic of MEMS accelerometers (PSD as reference sensor, one integration).

**Figure 16.**The frequency characteristics of OTT based on MEMS gyro: (

**a**) The resonance response of platform; (

**b**) the open-loop frequency response of platform.

**Figure 17.**The frequency characteristics of OTT based on closed-loop fusion with optimal design: (

**a**) The resonance response of platform; (

**b**) The open-loop frequency response of platform.

**Figure 18.**The system control result based on closed-loop fusion with optimal design: (

**a**) The frequency response of open-loop; (

**b**) the frequency response of closed-loop.

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**MDPI and ACS Style**

Mao, Y.; Ren, W.; Luo, Y.; Li, Z. Optimal Design Based on Closed-Loop Fusion for Velocity Bandwidth Expansion of Optical Target Tracking System. *Sensors* **2019**, *19*, 133.
https://doi.org/10.3390/s19010133

**AMA Style**

Mao Y, Ren W, Luo Y, Li Z. Optimal Design Based on Closed-Loop Fusion for Velocity Bandwidth Expansion of Optical Target Tracking System. *Sensors*. 2019; 19(1):133.
https://doi.org/10.3390/s19010133

**Chicago/Turabian Style**

Mao, Yao, Wei Ren, Yong Luo, and Zhijun Li. 2019. "Optimal Design Based on Closed-Loop Fusion for Velocity Bandwidth Expansion of Optical Target Tracking System" *Sensors* 19, no. 1: 133.
https://doi.org/10.3390/s19010133