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Check della LUT LC presa ieri

TEST @BI1

Loop a 120 di derotatore.

La camera lens e' stata aggiustata rispetto la LUT di ieri.

Nuova posizione X=-68.6 Y=-60.1
Le diff rispertto a ieri sono Dx=+21.4 Dy=-12.1 LoopChiuso di test

TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_181550 ??? 6.5 90 0 185716 1 400 1000 0.3 0.3 2 1426 62 H 5 500 rot 120 deg no-dist
20100608_181855 ??? 6.4 90 0 185716 1 400 1000 0.3 0.3 2 1602 65 H 5 500 rot 120 deg no-dist
20100608_182002 ??? 6.4 90 0 185716 1 400 1000 0.3 0.3 2 1577 66 H 5 500 rot 120 deg no-dist

Ora ci portiamo a 240deg di derotatoreapplichiamo l'offset Dx e Dy alla LUT di ieri

TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_182547 ??? 6.5 90 0 185716 1 400 1000 0.3 0.3 2 1534 65 H 5 500 rot 240 deg no-dist
20100608_182706 ??? 6.5 90 0 185716 1 400 1000 0.3 0.3 2 1522 63 H 5 500 rot 240 deg no-dist
20100608_182800 ??? 6.5 90 0 185716 1 400 1000 0.3 0.3 2 1520 59 H 5 500 rot 240 deg no-dist
OK

Ora ci portiamo a 360 e applichiamo i differenziali alla LUT e chiudiamo il LOOP
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_183728 ??? 6.6 90 0 185716 1 400 1000 0.3 0.3 2 1402 65 H 5 500 rot 360 deg no-dist
20100608_183818 ??? 6.6 90 0 185716 1 400 1000 0.3 0.3 2 1391 65 H 5 500 rot 360 deg no-dist
20100608_183908 ??? 6.6 90 0 185716 1 400 1000 0.3 0.3 2 1398 64 H 5 500 rot 360 deg no-dist
OK

TEST @BIN3

Derot @360deg

LC applicando l'offset per BIN3 e l'offset di oggi
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_185150 ??? 7.4 90 0 004214 3 66 699 0.4 0.7 5 8742 58 H 5 500 rot 360 deg no-dist
20100608_185238 ??? 7.4 90 0 004214 3 66 699 0.4 0.7 5 8733 54 H 5 500 rot 360 deg no-dist
20100608_185329 ??? 7.5 90 0 004214 3 66 699 0.4 0.7 5 7760 57 H 5 500 rot 360 deg no-dist
OK

Ora proviamo con derot@180deg
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_185844 ??? 7.4 90 0 004214 3 66 699 0.4 0.7 5 9050 64 H 5 500 rot 180 deg no-dist
20100608_190119 ??? 7.4 90 0 004214 3 66 699 0.4 0.7 5 9054 65 H 5 500 rot 180 deg no-dist
20100608_190206 ??? 7.4 90 0 004214 3 66 699 0.4 0.7 5 9035 67 H 5 500 rot 180 deg no-dist
OK

Ora misuriamo l'offset per il BIN4

Centraggio a BIN4 con derot 180del X=51.5; Y=-35.4
Quindi gli offset sono bin4-bin1 -> x=89.9 y=26.7

Loop fatti ricentrando la camera lens con l'acqu pup
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_191537 ??? 8.4 90 0 081806 4 36 701 0.6 0.7 5 7131 59 H 10 250 rot 180 deg no-dist
20100608_191737 ??? 8.4 90 0 081806 4 36 701 0.6 0.7 5 6965 54 H 10 250 rot 180 deg no-dist
20100608_191804 ??? 8.4 90 0 081806 4 36 701 0.6 0.7 5 6906 53 H 10 250 rot 180 deg no-dist

Ora ci portiamo a derot 360deg usando la LUT ricalcolata con l'offset misurato adesso
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_192139 ??? 8.7 90 0 081806 4 36 701 0.6 0.7 5 5501 49 H 10 250 rot 360 deg no-dist
20100608_192205 ??? 8.7 90 0 081806 4 36 701 0.6 0.7 5 5517 54 H 10 250 rot 360 deg no-dist
20100608_192231 ??? 8.7 90 0 081806 4 36 701 0.6 0.7 5 5495 51 H 10 250 rot 360 deg no-dist

Come crosscheck ora ricentriamo a 360deg la LC usando l'acqu-PUP. L'acq pup sposta di x=25 e y=15
Dopo l'acq pup dobbiamo abbassare il gain HO perche' oscillava un po'
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_192843 ??? 8.3 90 0 081806 4 36 701 0.5 0.7 5 8069 52 H 10 250 rot 360 deg no-dist
20100608_192912 ??? 8.3 90 0 081806 4 36 701 0.5 0.7 5 8077 54 H 10 250 rot 360 deg no-dist
20100608_192937 ??? 8.3 90 0 081806 4 36 701 0.5 0.7 5 8064 52 H 10 250 rot 360 deg no-dist
OK

Calib LC LUT @BIN2

Qui dobbiamo riacquisire tutta la LUT perche' la differenza di offser fra derotatore e rirotatore fa si' che gli spostamenti della pupilla siano diversi dal caso degli altri binnings.
rot=[ 30, 60, 90, 120, 150, 180, 210, 240, 270, 300, 330, 360]
x=[ 28.9, 7.2, -24.0, -30.9, -36.7, -27.7, -8.0, 17.5, 40.1, 56.3, 56.8, 47.9]
y=[ 7.0, 9.3, -1.5, -10.5, -28.3, -43.4, -52.8, -56.3, -51.6, -39.2, -20.5, -9.7]

Test della LUT rot @150deg
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_195744 ??? 6.9 90 0 054335 2 153 991 0.3 0.5 3 4409 63 H 5 250  
20100608_195902 ??? 6.9 90 0 054335 2 153 991 0.3 0.5 3 4413 62 H 5 500  
20100608_195950 ??? 6.9 90 0 054335 2 153 991 0.3 0.5 3 4418 61 H 5 500  

Test della LUT @240
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_200703 ??? 7.1 90 0 054335 2 153 991 0.3 0.5 3 3523 59 H 5 500  
20100608_200754 ??? 7.1 90 0 054335 2 153 991 0.3 0.5 3 3518 59 H 5 500  
20100608_200846 ??? 7.1 90 0 054335 2 153 991 0.3 0.5 3 3519 57 H 5 500  
20100608_200934 ??? 7.1 90 0 054335 2 153 991 0.3 0.5 3 3522 60 H 5 500  

Teniamo il rotatore @240deg e ricentriamo con l'acq pup e prendiamo i loop per confronto

TEST LUT INTERPOLATA@BIN3

Mettimao a 255 e impostiamo i valori interpolati dalla sinusoide
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_202337 ??? 6.8 90 0 054335 2 153 991 0.3 0.5 3 4930 61 H 5 500  
20100608_202428 ??? 6.8 90 0 054335 2 153 991 0.3 0.5 3 4932 62 H 5 500  
20100608_202520 ??? 6.8 90 0 054335 2 153 991 0.3 0.5 3 4917 63 H 5 500  

TEST LUT INTERPOLATA@BIN1

Il loop a 400modi a g=0.3 ha un po' di problemi. Quindi lo chiudiamo a G=0.1 e chiudiamo il loop di camera con l'acq pup per raffinare.
L'acq pup sposta di Dx=-7 Dy=5. Dopo la correzione chiude con G=0.4-0.3

KALMAN FILTER TEST @BIN3

NO DISTURB, HBS ON, TREEHOUSE OFF

Chiudiamo il loop bin3 @700 con integratore e usando la LUT
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_220805 ??? 7.5 90 0 004214 3 66 699 0.3 0.7 5 8133 74 H 5 500  
20100608_220901 ??? 7.5 90 0 004214 3 66 699 0.3 0.7 5 8142 72 H 5 500  
20100608_220956 ??? 7.5 90 0 004214 3 66 699 0.3 0.7 5 8137 73 H 5 500  

Ora chiudiamo a 200Hz con l'integratore
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_221603 ??? 9.3 90 0 004214 3 66 200 0.4 1.4 6 5497 33 H 20 200  
20100608_221739 ??? 9.1 90 0 004214 3 66 200 0.4 1.4 6 6558 30 H 20 200  
20100608_221805 ??? 9.1 90 0 004214 3 66 200 0.4 1.4 6 6573 31 H 20 200  

Testiamo il Kalman k200A
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_222203 ??? 9.1 90 0 IDL_Wo 3 1 200 0.3 0.3 6 6515 32 H 20 200  
20100608_222231 ??? 9.1 90 0 IDL_Wo 3 1 200 0.3 0.3 6 6534 20 H 20 200  
20100608_222301 ??? 9.1 90 0 IDL_Wo 3 1 200 0.3 0.3 6 6524 24 H 20 200  

Ora il k200B
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_222549 ??? 8.9 90 0 IDL_Wo 3 1 200 0.3 0.3 6 7588 61 H 20 200  
20100608_222612 ??? 8.9 90 0 IDL_Wo 3 1 200 0.3 0.3 6 7572 44 H 20 200  
20100608_222636 ??? 8.9 90 0 IDL_Wo 3 1 200 0.3 0.3 6 7570 32 H 20 200  
20100608_222823 ??? 8.9 90 0 IDL_Wo 3 1 200 0.3 0.3 6 7548 14 H 20 200  
20100608_222847 ??? 8.9 90 0 IDL_Wo 3 1 200 0.3 0.3 6 7567 19 H 20 500  

Ora il k200C
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_223111 ??? 8.9 90 0 IDL_Wo 3 1 200 0.3 0.3 6 7593 17 H 20 500  
20100608_223203 ??? 8.9 90 0 IDL_Wo 3 1 200 0.3 0.3 6 7591 17 H 20 500  
20100608_223255 ??? 8.9 90 0 IDL_Wo 3 1 200 0.3 0.3 6 7588 29 H 20 500  

ORA PROVIAMO CON I DISTURBI

Integratore @200Hz

TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_225053 ??? 8.9 90 0 004214 3 66 200 1.0 2.2 6 7698 13 H 200 50  
20100608_225128 ??? 8.9 90 0 004214 3 66 200 1.0 2.2 6 7698 14 H 200 50  
20100608_225152 ??? 8.9 90 0 004214 3 66 200 1.0 2.2 6 7698 13 H 200 50  

Ora proviamo con l'integratore @700Hz
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_225632 ??? 7.5 90 0 004214 3 66 699 0.5 1.0 5 8427 26 H 100 50  
20100608_225656 ??? 7.5 90 0 004214 3 66 699 0.5 1.0 5 8410 25 H 100 100  
20100608_225735 ??? 7.5 90 0 004214 3 66 699 0.5 1.0 5 8402 26 H 100 100  

Le vibrazioni sembrano da 20Hz in su e non sui 13 dove abbiamo il Kalman, sospendiamo il test

Test BIN3 diverse freqenze e flussi con disturbo

TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_230159 ??? 12.3 90 0 004214 3 66 699 0.5 0.6 5 98 18 H 500 20  
20100608_230328 ??? 12.3 90 0 004214 3 66 699 0.5 0.6 5 95 17 H 500 20  
20100608_230343 ??? 12.3 90 0 004214 3 66 699 0.5 0.6 5 99 19 H 500 20  

Abbassiamo la lampada
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_230641 ??? 13.5 90 0 004214 3 66 699 0.5 0.6 5 32 11 H 500 20  
20100608_230656 ??? 13.5 90 0 004214 3 66 699 0.5 0.6 5 32 11 H 500 20  
20100608_230754 ??? 13.5 90 0 004214 3 66 699 0.5 0.6 5 32 10 H 500 20  

Ora andiamo a 200Hz
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_231539 ??? 13.5 90 0 004214 3 66 200 1.0 1.6 6 114 10 H 1000 20  
20100608_231733 ??? 13.4 90 0 004214 3 66 200 1.0 1.6 6 124 10 H 1000 20  
20100608_231758 ??? 13.4 90 0 004214 3 66 200 1.0 1.6 6 127 10 H 1000 20  

Ora andiamo a 400Hz
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_232445 ??? 13.3 90 0 004214 3 66 400 0.6 1.5 6 71 16 H 1000 20  
20100608_232511 ??? 13.2 90 0 004214 3 66 400 0.6 1.5 6 73 17 H 1000 20  
20100608_232536 ??? 13.2 90 0 004214 3 66 400 0.6 1.5 6 72 16 H 1000 20  

Ora a 500Hz
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_233024 ??? 13.3 90 0 004214 3 66 500 0.6 1.2 6 55 16 H 1000 20  
20100608_233050 ??? 13.3 90 0 004214 3 66 500 0.6 1.2 6 55 16 H 1000 20  
20100608_233117 ??? 13.3 90 0 004214 3 66 500 0.6 1.2 6 56 16 H 1000 20  

Recheck a 700Hz
TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_233445 ??? 13.2 90 0 004214 3 66 699 0.6 1.0 5 42 13 H 1000 20  
20100608_233513 ??? 13.2 90 0 004214 3 66 699 0.6 1.0 5 44 13 H 1000 20  
20100608_233539 ??? 13.2 90 0 004214 3 66 699 0.6 1.0 5 42 13 H 1000 20  

TEST KALMAN anche se la freq e' differente

TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_234012 ??? 11.0 90 0 IDL_Wo 3 1 200 0.9 0.9 6 1105 6 H 1000 20  
20100608_234105 ??? 13.3 90 0 IDL_Wo 3 1 200 0.9 0.9 6 132 6 H 1000 20  
20100608_234155 ??? 13.3 90 0 IDL_Wo 3 1 200 0.9 0.9 6 130 6 H 1000 20  

Dati open loop (G=0) dopo spianamento con IRTC @210Hz

TrackNo RefStar Mag El Wind Rec bin #mod freq gain mod nph SR band exp #frames notes
20100608_235517 ??? 6.5 90 0 185716 1 400 1000 0.0 0.0 2 1469 16 H 1 1000  
20100608_235619 ??? 6.5 90 0 185716 1 400 1000 0.0 0.0 2 1445 18 H 1 1000  
20100608_235720 ??? 6.5 90 0 185716 1 400 1000 0.0 0.0 2 1450 17 H 1 1000  

-- EnricoPinna - 08 Jun 2010
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