Optimal Estimation And Control Of Orientation Of A Heliostat Tower

Heliostat is the concentrating equipment of a concentration solar tower plant. Its concentrating accuracy directly affects the efficiency of a concentration solar plant. In order to improve the accuracy of heliostat, one method is to measure the beam deviation error and to give a proper compensation for the two axes controlling system of the heliostat based on the measurements. Using non-linear filtering algorithm to estimate the pose of a heliostat can give a better compensation for a working heliostat.This paper studies the two filtering algorithms for nonlinear systems:extended Kalman filter (EKF) and unscented Kalman filter (UKF), and tries to apply them on the estimation of heliostat orientation based on the measurements of a beam-center measuring system for heliostat. Through a large number of simulation and experiments, the two filtering algorithms are analyzed and compared.The main works of this paper are as follows:(1) Analyze the structure of heliostat error caused by its impact factor was established with an error correction model attitude angles, the simulation results obtained for each source of error reflect the true state of attitude angle.(2)The establishment of heliostat filter model attitude angles. EKF, UKF filter simulation results show the superiority of UKF filtering algorithm.(3) Select the total station as a heliostat attitude angle measurement tool, designed to measure the total station programs, as compared with the numerical estimation algorithm to verify reliability of the algorithm.