| 基于小波卡尔曼滤波的加速度计降噪方法 |
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| 引用本文： | 覃方君,许江宁,李安,周红进.基于小波卡尔曼滤波的加速度计降噪方法[J].武汉理工大学学报(交通科学与工程版),2009,33(1). |
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| 作者姓名： | 覃方君 许江宁 李安 周红进 |
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| 作者单位： | 1. 海军工程大学电气与信息工程学院,武汉,430033
2. 海军工程大学电气与信息工程理学院,武汉,430033 |
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| 摘 要： | 针对GF-INS中加速度计降噪的实际问题,提出了一种非零均值观测噪声小波卡尔曼滤波算法.在非标准观测噪声条件下,利用滑动数据窗内的小波变换实时在线估计出观测噪声的方差和均值,作为标准卡尔曼滤波的修正信息,从而实现了标准卡尔曼滤波算法的扩展.实验结果表明,在观测噪声为非标准噪声且统计规律未知的条件下,该自适应降噪方法能获得较好的滤波效果,加速度计信号的噪声方差强度减少了3个数量级.
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| 关 键 词： | 加速度计 降噪 小波 卡尔曼滤波 |
A Wavelet Based Kalman Filter for Accelerometers De-noising |
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| Qin Fang-jun,Xu Jiang-ning,Li An,Zhou Hong-jin.A Wavelet Based Kalman Filter for Accelerometers De-noising[J].journal of wuhan university of technology(transportation science&engineering),2009,33(1). |
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| Authors: | Qin Fang-jun Xu Jiang-ning Li An Zhou Hong-jin |
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| Institution: | Electrical Engineering and Information Engineering College;Naval University of Engineering;Wuhan 430033;College of Science;Wuhan 430033 |
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| Abstract: | Accelerometers have great effect on the precision of Gyro Free Inertial Navigation System(GF-INS).To solve the practical problem of accelerometers de-noising in GF-INS,a novel wavelet based Kalman filtering algorithm with non-zero observation noise was proposed.On the condition of nonstandard observation noise,real-time variances and means of observation noise can be on-line estimated by wavelet transform method in a moving data window.So with the estimated information,the standard Kalman filtering equation... |
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| Keywords: | accelerometer de-noising wavelet Kalman filter |
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