Abstract
Laser positioning applications on mobile platforms like ground and aerial vehicles have been widely used in the industry and possess great potential in the next generation communication network. However, the vibration from vehicles significantly degrades the performance. Active compensation where the vibration is sensed and applied for opposite actuation precisely is hence necessary. In this dissertation, the author presents sensing algorithms to obtain the accurate vibration signal for compensation. The technical challenges include: 1) the sensor noise and integration drift, 2) the multiple dominant frequencies, 3) the broad bandwidth, 4) the time variance of frequencies and amplitudes, and 5) the presence of system delay induced phase shift. In order to meet the objective and address the mentioned technical challenges, the author proposes: 1) the RLS-based filter to remove the sensor disturbance with ignorable phase shift, 2) the Taylor series forecasting technique to eliminate the delay encountering the multiple dominant frequencies and its bandwidth, 3) the MOFLC algorithm to encounter the time variance of the vibration features, and 4) the LSTM-RNN to eliminate the phase shift encountering all the addressed features of the input signal and the limitations in traditional analytical methods. Real-time experiments are conducted and simulations are performed and the proposed algorithms possess high accuracy, good generality, and robustness in the compensation and laser transmission stabilization.