Currently, commercial encoders endowed with high precision are expensive sensors, and optical low-cost designs to measure the positioning angle have undesirable levels of system noise which reduce the good performance of devices. This research is devoted to the designing of mathematical filters to suppress noise in polarized transducers, in order to obtain high accuracy, precision, and resolution, along with an adaptive maximum response speed for low-cost optical encoders. This design was proved through a prototype inside a research platform, and experimental results show an accuracy of 3.9, a precision of 26, and a resolution of 17 [arc seconds], at least for the specified working conditions, for the sensing of the angular position of a rotary polarizer. From this work has been obtained a high-performance low-cost polyphase optical encoder, which uses filtering mathematical principles potentially generalizable to other inventions.
Design of a low cost underwater robotic research platform