Extended Kalman filter-aided alignment control for maintaining line of sight in optical communication
Extended Kalman filter-aided alignment control for maintaining line of sight in optical communication
复制标题
用于维持光通信中视线的扩展卡尔曼滤波器辅助对准控制
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Xiaobo Tan
中科院分区：
文献类型：
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作者：
P. Solanki;Mohammed Al;Xiaobo Tan
基于发光二极管（LED）的光通信正在成为声学通信的低功耗、低成本和高数据速率的替代方案。然而，它需要发射器和接收器之间的近视距链路。由于不必要的干扰和/或推进力导致底层移动的平台不断移动，因此维持视线的对准具有挑战性。在这项工作中，我们提出了一种新的扩展卡尔曼滤波（EKF）为基础的对准算法，估计接收器和发射器之间的相对取向的基础上接收到的光强度，并使用后者来调整接收器的扫描运动。扫描模式被设计成使得EKF收敛的秩条件被满足。仿真结果和初步的实验结果表明，所提出的估计和控制方案的有效性。
Light-emitting diode (LED)-based optical communication is emerging as a low-power, low-cost and high-data rate alternative to acoustic communication. However, it requires a close-to-line-of-sight link between the transmitter and the receiver. Alignment for maintaining line of sight is challenging due to the constant movement of the underlying mobile platform that is caused by unwanted disturbances and/or the propulsion. In this work we propose a novel extended Kalman filter (EKF)-based alignment algorithm, which estimates the relative orientation between the receiver and the transmitter based on the received light intensity, and uses the latter to adjust the scanning motion of the receiver. The scanning pattern is designed such that the rank condition for EKF convergence is satisfied. The efficacy of the proposed estimation and control scheme is illustrated with simulation results and preliminary experimental results.