提出了一种基于自适应卡尔曼滤波算法的精密指向机构速度估计方法，用控制误差的统计特性实时调节卡尔曼滤波参数。用实验方法建立直流伺服电机的数学模型，对基于该方法的速度回路控制与响应进行了仿真，与其他速度估计方法进行了对比，在试验转台的速度控制中实现了该方法及其他速度估计方法，并比较了几种方法的阶跃响应和正弦响应，验证了仿真结果。结果表明，自适应卡尔曼滤波能抑制噪声影响，测速精度与静、动态性能良好，对噪声变化的鲁棒性较好。

A velocity estimation method for precision pointing mechanisms based on an adaptive Kalman filter was presented. The parameters of the Kalman filter can be adjusted according to the statistical characteristics of control error. A mathematical model for a DC servo motor and a simulation of the velocity control system was constructed and analyzed by various velocity estimation methods. These methods were implemented in the velocity control system, and we compared the step and the sinusoidal responses of these methods and confirmed the results of the simulation. The results showed that the adaptive Kalman filter could suppress noise, obtain higher velocity estimation precision, reduce static performance and increase dynamic performance and was robust to noise changes.