A Nonlinear Observability Analysis of Ambient Wind Estimation with Uncalibrated Sensors, Inspired by Insect Neural Encoding.
A Nonlinear Observability Analysis of Ambient Wind Estimation with Uncalibrated Sensors, Inspired by Insect Neural Encoding.
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DOI：
10.1109/cdc45484.2021.9683219
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发表时间：
2021-12
期刊：
影响因子：
--
通讯作者：
van Breugel, Floris
中科院分区：
文献类型：
--
作者：
van Breugel, Floris
对于许多飞行或游泳的动物和机器人来说，估计周围流体流动的方向是关键，但只能通过间接测量和主动控制来实现。最近对被拴住的飞行昆虫的研究表明，它们对方向、表观风向、运动方向和控制的感觉表示是由中央大脑中的二维角度编码表示的。这种表示通过将不同单位的测量的方向(而不是尺度)投影到通用极坐标框架上来简化感觉整合。然而，为了使这些角度测量彼此对齐，电机系统确实需要对每个传感器的角度增益和偏移量进行校准。这种校准可能会因环境或物理结构的变化而随时间变化。在什么情况下，带有角度传感器和不断变化的校准的小型机器人和动物可以在移动时自我校准和估计周围流体流动的方向，这仍然是一个悬而未决的问题。在这里，提出了一个有条不紊的非线性能观性分析来解决这一问题。分析表明，通过频繁改变航向(或主动预防)和方位，连续估计流向并进行自校准在数学上是可行的，需要对表观流速、方位(或其导数)和运动方向(或其导数)这三种感官测量进行融合和时间区分。这些结论与许多羽流跟踪生物表现出的之字形轨迹一致，表明流动估计可能是它们轨迹结构的次要驱动因素。
Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that their sensory representation of orientation, apparent wind, direction of movement, and control is represented by a 2-dimensional angular encoding in the central brain. This representation simplifies sensory integration by projecting the direction (but not scale) of measurements with different units onto a universal polar coordinate frame. To align these angular measurements with one another and the motor system does, however, require a calibration of angular gain and offset for each sensor. This calibration could change with time due to changes in the environment or physical structure. The circumstances under which small robots and animals with angular sensors and changing calibrations could self-calibrate and estimate the direction of ambient fluid flow while moving remains an open question. Here, a methodical nonlinear observability analysis is presented to address this. The analysis shows that it is mathematically feasible to continuously estimate flow direction and perform self-calibrations by adopting frequent changes in course (or active prevention thereof) and orientation, and requires fusion and temporal differentiation of three sensory measurements: apparent flow, orientation (or its derivative), and direction of motion (or its derivative). These conclusions are consistent with the zigzagging trajectories exhibited by many plume tracking organisms, suggesting that perhaps flow estimation is a secondary driver of their trajectory structure.
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影响因子：
2.8
作者：
Bender, John A.;Dickinson, Michael H.
通讯作者：
Dickinson, Michael H.
影响因子：
5.3
作者：
Baker, Keeley L.;Dickinson, Michael;Smear, Matthew C.
通讯作者：
Smear, Matthew C.
影响因子：
9.2
作者：
Dickerson, Bradley H.;de Souza, Alysha M.;Dickinson, Michael H.
通讯作者：
Dickinson, Michael H.
影响因子：
9.2
作者：
Krause, Tammo;Spindler, Laura;Strauss, Roland
通讯作者：
Strauss, Roland
DOI：
10.1007/bf00609849
发表时间：
1982-01-01
期刊：
JOURNAL OF COMPARATIVE PHYSIOLOGY
影响因子：
--
作者：
FRENCH, AS;KUSTER, JE
通讯作者：
KUSTER, JE