面向中医正骨临床训练系统的卡尔曼滤波降噪方法研究

Kalman Filter Noise Reduction Methods in Clinical Training System for Bone-setting of Traditional Chinese Medicine

目的 ：基于中医正骨临床训练系统,使用降噪滤波算法实现对六轴陀螺仪定位数据的降噪处理。方法 ：利用MATLAB 2010模拟仿真数据降噪效果并作有效分析;在中医正骨临床训练系统中,采集原始实验数据,使用卡尔曼滤波算法降噪,得出实验结果。结果：在静态数据实验中,卡尔曼滤波器去除了大部分漂移,Wilcoxon符号秩检验结果显示,Z=-0.518,P=0.604,表明卡尔曼滤波降噪后的数据与理论数据具备一定一致性;在动态数据实验中,经卡尔曼滤波算法降噪后的数据趋于平顺,减少了抖动,降噪处理效果明显。结论：卡尔曼滤波算法在中医正骨临床训练系统中的应用是可行的,为降噪处理在该领域的应用提供了科学依据。

Objective：Based on the clinical training system for bone-setting of traditional Chinese medicine, noise reduction filtering algorithm can be used for six-axis gyroscope location data. Methods：Data noise reduction was simulated with MATLAB 2010,and efficacy analysis was carried out. The original experimental data of clinical training system for bone-setting of traditional Chinese medicine were obtained,and then un- derwent noise reduction with Kalman filter. Results：In the static data experiments,the Kalman filter re- moved most of the drift and Wilcoxon signed rank test showed that Z=-0.518,P=0.604,indicating that the data of Kalman filter was consistent with the theoretical data. In the dynamic data experiment,the data after the noise reduction by Kalman filter algorithm was smooth and the jitter and noise reduction were reduced with obvious effects. Conclusion：Kalman filter is feasible in clinical training system for bone-setting of tra- ditional Chinese medicine,which provides a scientific basis for the application of noise reduction in this field.