期刊文献+

自适应Kalman滤波在MEMS陀螺仪信号处理中的应用 被引量:23

Application of the adaptive kalman filter in the MEMS gyro signal processing
下载PDF
导出
摘要 通过中值滤波和均值滤波的有机结合,可以去除MEMS陀螺仪漂移中的"野点"信号。基于Haar小波基的小波变换,寻找到了一种易于实时在线实现的漂移特征提取方法。对残差信号进行二阶AR模型分析建模后,利用改进的自适应Kalm an滤波算法,对残差信号进行滤波,提高了被处理漂移信号的精度。实际测量数据的处理结果验证了该MEMS陀螺仪去漂移方法的有效性。 The outlier signal from the MEMS gyro drift could be got rid of effectively by uniting the mean filter and the median filter. Based on the wavelet transformation of the Haar basis, a method to extract the character of the gyro drift signal has been found ,the method is fit for the implementation in real-time on-line. After the residual signal is modeled by a 2-order AR, an improved adaptive Kalman filtering algorithm is used to filter the signal. The accuracy of drift signal is improved greatly. The processed result from the practical gyro measurement shows the method of the de-drift is effective.
出处 《传感器与微系统》 CSCD 北大核心 2006年第9期79-81,85,共4页 Transducer and Microsystem Technologies
基金 国家"863"计划资助项目(2002AA812038)
关键词 小波变换 MEMS陀螺仪 中值滤波 陀螺仪漂移 wavelet transformation MEMS gyro median filter gyro drift
  • 引文网络
  • 相关文献

参考文献7

  • 1丁晖,刘君华,申忠如.在线小波变换技术在气体传感器漂移故障检测中的应用[J].西安交通大学学报,2002,36(12):1219-1221. 被引量:7
  • 2LI Qiang,TENG Jian-fu ,WANG Xin,et al. Research of gyro signal de-noise with stationary wavelets transform [ D ]. Montreal:CCECE 2003-CCGEI 2003,2003. 1989 - 1992.
  • 3GUO Ji-chang,TENG Jian-fu. The de-noise of signals by biorthogonal wavelet transform [ D ]. Montreal: CCECE 2003-CCGEI 2003,2003. 1985 - 1988.
  • 4CHEN Xi-yuan. Modeling Random Gyro drift by Time series neural networks and by traditional method Proceeding[A]. The IEEE Int Conf Neural Networks & Signal[C]. Processing Nanjing China,2003.14 - 17,810 -813.
  • 5安鸿志.时间序列的工程应用[M].武汉:华中科技大学,1996.255—256.
  • 6刘郁林,景晓军,等(译).自适应滤波算法与实现[M].北京:电子工业出版社,2004.
  • 7张朝玉.卡尔曼滤波在多维AR序列建模中的应用[J].大地测量与地球动力学,2003,23(2):92-95. 被引量:12

二级参考文献5

  • 1彭玉华.小波变换与工程应用[M].北京:科学出版社,2000..
  • 2Wu Jinpei.Applications of time series analysis[M].Chang sha:Hunan Science & Technology Press,1989,57-58(in Chinese)
  • 3Li Qinghai and Tao Benzao. Theory of probability and statistics and its application in surveying[M]. Beijing: Publishing House of Surveying & Mapping, 1984. 43-48.(in Chinese)
  • 4Zhang Chaoyu.Multi-dimensional AR series modeled by least squares criterion[J].Geomatics and Information Sciences of Wuhan University,2002,27(4):377-381.(in Chinese)
  • 5Wang Huiwen. Partial least square regression method with applications[M]. Beijing:Defence Industry Press 1999,51-52.(in Chinese)

共引文献24

同被引文献137

引证文献23

二级引证文献211

;
使用帮助 返回顶部