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31results about How to "Guaranteed filtering accuracy" patented technology

Indoor positioning method based on improved square root unscented Kalman filtering

The invention discloses an indoor positioning method based on improved square root unscented Kalman filtering. The method comprises the following steps of firstly, establishing a UWB positioning modeland a pedestrian dead reckoning PDR model in a fusion indoor positioning method; then, according to a residual identification method criterion, determining whether an NLOS criterion exists in a positioning result of the UWB positioning model; if the NLOS exists, using an improved square root unscented Kalman filtering algorithm to fuse a coordinate of inertial navigation dead reckoning with a positioning coordinate of UWB, and correcting a UWB solving coordinate data; and if the NLOS does not exist, using the UWB to analyze a current coordinate and completing real-time positioning. In the invention, the pedestrian dead reckoning PDR is used to compensate a UWB signal loss or non-line of sight condition, which improves the positioning accuracy of the system and the advantages of high precision and high robustness are possessed.
Owner:NANJING UNIV OF SCI & TECH

MEMS strapdown inertial navigation initial alignment method based on adaptive central difference Kalman filtering

The invention belongs to the field of navigation and in particular relates to an MEMS strapdown inertial navigation initial alignment method for statistical property uncertainty of measurement noise. The method comprises the following steps: determining initial longitude and latitude of a carrier by utilizing GPS; acquiring the acceleration data output by an MEMS accelerometer and magnetic field intensity data output by a magnetometer; selecting the initial filter value; acquiring angular velocity output by an MEMS gyroscope and acceleration data output by the MEMS accelerometer; and estimating the platform misalignment angle, thus finishing accurate initial alignment. According to the method disclosed by the invention, a measurement noise variance matrix is estimated and adjusted in real time by monitoring the information sequence change during iteration each time, the adaptive ability of the system is improved, and the filtering stability is improved on the basis that the filtering precision is guaranteed.
Owner:HARBIN ENG UNIV

A self-adaptive Kalman filtering algorithm

The invention discloses a self-adaptive Kalman filtering algorithm, which is used for removing noise. The method provided by the invention comprises the following steps: establishing a state vector model and a measurement vector model of a filtering system; After the system is initialized, taking a Kalman filtering prediction value as a sample regression fitting value, and calculating a fitting goodness determination coefficient and a correction coefficient; Correcting a process noise covariance matrix according to the correction coefficient; And according to the transmission matrix, the measurement matrix and the corrected process noise covariance matrix in the state vector model and the measurement vector model, calculating Kalman gain, and calculating a state estimation value and an estimation error covariance. Through the technical scheme provided by the invention, real-time and efficient filtering can be realized, and the filtering precision is ensured.
Owner:YANGTZE UNIVERSITY

Master-slave surgical robot trajectory prediction control method

The invention discloses a master-slave surgical robot trajectory prediction control method, which comprises the following steps: firstly, designing a Kalman vibration filtering algorithm of a least square support vector machine, and filtering a tremor signal of a hand to obtain a target trajectory signal; performing trajectory planning on the target trajectory signal through a linear trajectory planning method and a Chebyshev pseudo-spectral method to obtain a planned trajectory, and optimizing the planned trajectory through a quadratic programming method to obtain an actual trajectory signal;taking the actual trajectory signals as input through a master-slave pose mapping function, mapping the movement poses of the master hand and the slave hand, and achieving predictive control over thetrajectory of the master-slave surgical robot. According to the master-slave surgical robot trajectory prediction control method, the problems that the operation of the tail end of a master-slave surgical robot is delayed, and the precision is low are solved.
Owner:XI'AN POLYTECHNIC UNIVERSITY

Self-regulation-based unscented Kalman filter (UKF) misalignment angle initial-alignment method

The invention discloses a self-regulation-based unscented Kalman filter (UKF) misalignment angle initial-alignment method. The method comprises the following steps: (1) writing a state equation and a measurement equation of filtering according to the error characteristics of initial inertial navigation alignment; (2) setting initial filtering values X0 and P0; (3) determining an optimum value of a regulation parameter; (4) under the condition of a formula, determining a mean value and a covariance Pk / k of a filtering state according to a nonlinear error model; (5) under the condition of the formula, determining a predicted mean value (Xk+1) / k and a covariance (Pk+1) / k of the filtering state according to the nonlinear error model, and aligning a misalignment angle by virtue of the (Xk+1) / k and (Pk+1) / k. According to the method, misalignment angle errors of a carrier system and a navigation system can be effectively estimated, and reliable accuracy is provided for navigation and positioning.
Owner:HARBIN ENG UNIV

Robust adaptive filtering and state estimation method based on Huber estimation

The present invention provides a robust adaptive filtering and state estimation method based on Huber estimation. Firstly, an estimation value is calculated through estimating an upper bound of a covariance matrix of a one-step prediction dual-uncertainty system in an online way, only a time updating process is modified, at the same time a method of a linear matrix inequality is used to carry out adaptive parameter adjustment, and an adaptive traceless information filter for an uncertainty model is obtained. Then the matrix inversion theorem is applied and a Huber estimation method is used to modify a measurement update process, and a final estimation value is obtained. The precision of filtering and state estimation is high, and the stability is good. According to the robust adaptive filtering and state estimation method, a filtering and state estimation problem of a dual-uncertainty unmanned ship is solved, the advantages of an information filter structure are retained, the precision and stability of filtering and state estimation are improved, and the calculation is simple and the application is convenient.
Owner:HARBIN ENG UNIV

Characteristic peak extraction method for low signal-to-noise ratio ultraviolet Raman spectrum

The invention discloses a characteristic peak extraction method for a low signal-to-noise ratio ultraviolet Raman spectrum, and belongs to the field of spectrum detection and spectrum processing technologies and signal processing. The method comprises the following steps of collecting ultraviolet Raman signals in real time, counting collected Raman signal data, and predicting the effective peak value of the Raman signals; processing each frame of collected Raman spectrum, for each frame of Raman spectrum, segmenting each frame of Raman spectrum into various block areas through the obtained effective valley, and respectively judging attributes of the segmented block areas; for each noise area, enabling each point to be equal to the minimum value of the area, and then splicing the Raman signal area and the processed noise area; splicing the processed N + 1 frames of spectrums along a time axis to form a 2D image, filtering the 2D image through an iterative bilateral filtering method, and superposing and normalizing the N + 1 spectrums along the time axis after filtering to obtain a clean Raman characteristic peak spectrum image.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY

Proportional control and normalized LMP filtering method under CIM function

The invention discloses a proportional control and normalized LMP filtering method under a CIM function. The method comprises the following steps: multiplying an input signal of an adaptive filter byan optimal weight vector of the filter, and adding a noise signal to obtain a desired output signal; multiplying the input signal by a real-time weight vector of the filter to obtain a real-time output signal; performing subtraction on the desired output signal and the real-time output signal to obtain a signal error; designing a cost function of a filtering algorithm according to the least mean square p-norm criterion; importing a proportional step size control matrix, obtaining an update equation of the weight via a steepest descent method, and performing normalization processing; importingthe CIM function to optimize the proportional step size control matrix, so that each weight component obtains a corresponding step factor; and performing iterative update on the weight of the adaptivefilter. By adoption of the proportional control and normalized LMP filtering method disclosed by the invention, the filtering precision and the convergence speed of the adaptive filtering method canbe guaranteed, and even when the sparsity of the channel becomes small, relatively good filtering precision and convergence speed can still be maintained.
Owner:UNIV OF ELECTRONICS SCI & TECH OF CHINA

Method for estimating external ballistic flight state of cannonball

PendingCN110082749AHigh precisionImprove accuracy, while ensuring filtering accuracyRadio wave reradiation/reflectionNonlinear filterExternal ballistics
The invention provides a method for estimating an external ballistic flight state of a cannonball. The method comprises the steps of modeling a system, improving a filtering algorithm and selecting the number of sample points. The improved filtering algorithm is adopted for estimation of external ballistic parameters of the cannonball; a point-mass trajectory equation serves as a state model of the system; and a radar measurement equation serves as a measurement model of the system. The estimation method adopts an improved nonlinear filtering algorithm. According to the method for estimating the external ballistic flight state of the cannonball, a state estimation error can be kept near a certain steady-state range after filtering is started for 5s, so that the convergence effect is good.The estimation method has the advantages that a conventional estimation method is remarkably improved, the measurement precision of external ballistic parameters of a missile rocket is improved, the introduction of a linearization error is avoided under the condition of ensuring the filtering precision and the algorithm calculation amount, and the filtering precision is improved, so that an important basis is provided for performing accurate ballistic control on the cannonball.
Owner:CHINA SHIP DEV & DESIGN CENT

Channel estimation method and device, computer readable storage medium as well as terminal

The invention discloses a channel estimation method and device, a computer readable storage medium as well as a terminal. The channel estimation method comprises the following steps: performing preliminary channel estimation by using pilots on a frequency domain to obtain a plurality of initial channel estimated values; performing filtering processing on selected M initial channel estimated valuesby using a filter bank to obtain a plurality of filtering results, wherein the filter bank includes a plurality of filters of a plurality of passband widths, and M is the tap numbers of the filters in the filter bank; and selecting a filtering result having a minimum error value with the M initial channel estimated values from the plurality of filtering results to serve as a channel estimated value. Through the technical scheme of the invention, the accuracy of channel estimation can be improved, and the application range can be expanded.
Owner:BEIJING SPREADTRUM HI TECH COMM TECH CO LTD

Real-time noise reduction enhancement method for ultraviolet Raman spectrum system

The invention discloses a real-time noise reduction enhancement method for an ultraviolet Raman spectrum system, and belongs to the field of spectrum detection and spectrum processing technologies andsignal processing. The method comprises: collecting ultraviolet Raman signals in real time, counting the collected Raman signal data, predicting the effective peak value of the Raman signals, and theeffective peak value comprising an effective valley and a top peak; processing each frame of collected Raman spectrum; aiming at each frame of Raman spectrum, segmenting each frame of Raman spectruminto blocks through the obtained effective troughs, respectively judging the attributes of the segmented blocks, the attributes of the regions refering to the attributes of noise regions or the attributes of effective Raman signal regions, filtering the noise regions, and then splicing the Raman signal regions and the filtered noise regions; and then, splicing the processed N + 1 frames of spectrums along a time axis to form a 2D image, filtering the 2D image through an iterative bilateral filtering method, and superposing and normalizing the N + 1 spectrums along the time axis after filteringto obtain a Raman spectrum subjected to noise reduction processing.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY

Digital filter capable of configuring coefficient and implementation method

The invention discloses a digital filter capable of configuring a coefficient and an implementation method. A fitting factor which is obtained by fitting a filter coefficient according to a certain algorithm is stored in a memory, and a great quantity of storage spaces for storing the filter coefficient are saved under the condition of ensuring the filtering accuracy. The digital filter capable of configuring the coefficient comprises a fitting factor memory, a coefficient calculation module and the digital filter; the digital filter is connected to the fitting factor memory through the coefficient calculation module; the fitting factor memory is used for storing the fitting factor for fitting the filter coefficient through a fitting algorithm; the coefficient calculation module is used for reading corresponding fitting factor in the fitting factor memory to calculate and obtain the required filter coefficient according to the input control information, and digital filter uses the filter coefficient calculated by the coefficient calculation module to filter the input digital signal.
Owner:OLINKSTAR CORP

Atomic current sensor

The invention discloses an atomic current sensor, which belongs to the field of electronics. The atomic current sensor comprises a light source control circuit, a light source, an atom absorption foam assembly and a sensor signal processing circuit, wherein the light source is controlled by using the light source control circuit; the atom absorption foam assembly is used for receiving an optical signal transmitted by the light source; and the sensor signal processing circuit interacts with the atom absorption foam assembly. Through the setting, the defect that an electromagnetic sensor applied in the fields of engineering detection of high-accuracy current detection, current metering detection and the like cannot well met requirements is overcome; and the atomic current sensor is simple in structure, has high measuring accuracy, and is suitable for popularizing and using.
Owner:CHENGDUSCEON ELECTRONICS

A disturbing target filtering method of a radar target tracking system based on an alpha-beta filter

The invention relates to a disturbing target filtering method of a radar target tracking system based on an alpha-beta filter. Compared with the prior art, the invention solves the defect that the filtering accuracy cannot be guaranteed when a radar tracks an unknown target. The method comprises the following steps: setting of a radar target tracking system; establishing of a virtual noise model;estimation calculation; filtering of a self-tuning alpha-beta filter. The method establishes a virtual noise model by using a method for fitting the virtual noise, and the system with parameter disturbance is transformed into a filtering problem with stable unknown parameters and known noise by using the virtual noise instead of disturbance and dynamic noise of the system itself. Therefore, a self-tuning alpha-beta filter is generated, which is used to filter the unknown targets effectively and ensure the filtering accuracy.
Owner:天水华威电子科技有限公司

Digital filter capable of configuring coefficient and implementation method

The invention discloses a digital filter capable of configuring a coefficient and an implementation method. A fitting factor which is obtained by fitting a filter coefficient according to a certain algorithm is stored in a memory, and a great quantity of storage spaces for storing the filter coefficient are saved under the condition of ensuring the filtering accuracy. The digital filter capable of configuring the coefficient comprises a fitting factor memory, a coefficient calculation module and the digital filter; the digital filter is connected to the fitting factor memory through the coefficient calculation module; the fitting factor memory is used for storing the fitting factor for fitting the filter coefficient through a fitting algorithm; the coefficient calculation module is used for reading corresponding fitting factor in the fitting factor memory to calculate and obtain the required filter coefficient according to the input control information, and digital filter uses the filter coefficient calculated by the coefficient calculation module to filter the input digital signal.
Owner:OLINKSTAR CORP

Atomic Current Sensor

The invention discloses an atomic current sensor, which belongs to the field of electronics. The atomic current sensor comprises a light source control circuit, a light source, an atom absorption foam assembly and a sensor signal processing circuit, wherein the light source is controlled by using the light source control circuit; the atom absorption foam assembly is used for receiving an optical signal transmitted by the light source; and the sensor signal processing circuit interacts with the atom absorption foam assembly. Through the setting, the defect that an electromagnetic sensor applied in the fields of engineering detection of high-accuracy current detection, current metering detection and the like cannot well met requirements is overcome; and the atomic current sensor is simple in structure, has high measuring accuracy, and is suitable for popularizing and using.
Owner:CHENGDUSCEON ELECTRONICS

Filtering method of linear random system and related device

The invention discloses a filtering method of a linear random system. The filtering method comprises the steps of adding a noise superposing item to the linear random system, and obtaining a noise superposed linear random system; performing observation value expression construction processing according to the noise superposed linear random system, and obtaining an observation value expression; andaccording to an optimal filtering method, performing filtering processing through using the noise superposed linear random system and the observation value expression as parameters, thereby obtaininga filtering result. Through adding the noise superposing item into to the linear random system, the linear random system bears the system noise interference at a previous time point and the system noise interference at the current time point, thereby relatively completely simulating a noise interference environment in an actual condition, further improving subsequent filtering precision and realizing higher filtering processing accuracy. The invention further discloses a linear random system filtering device, another filtering device and a computer-readable storage system, wherein the beneficial effects described above are achieved.
Owner:GUANGDONG UNIV OF TECH

Real-time Noise Reduction Enhancement Method for Ultraviolet Raman Spectroscopy System

The invention discloses a real-time noise reduction and enhancement method for an ultraviolet Raman spectrum system, which belongs to the field of spectrum detection and spectrum processing technology and signal processing. The invention collects ultraviolet Raman signals in real time, performs statistics on collected Raman signal data, and predicts effective peak values ​​of Raman signals, and the effective peak values ​​include effective troughs and peaks. Each frame of Raman spectrum collected is processed, and for each frame of Raman spectrum, each frame of Raman spectrum is divided into various regions through the obtained effective trough, and the properties of each segmented region are judged separately , the area attribute refers to the noise area attribute or the effective Raman signal area attribute, the noise area is filtered, and then the Raman signal area and the filtered noise area are combined. Afterwards, the processed N+1 frame spectra are spliced ​​into a 2D image along the time axis, and the 2D image is filtered through an iterative bilateral filtering method. After filtering, the N+1 spectra are superimposed and normalized along the time axis. Obtain the denoised Raman spectrum.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY

An Asynchronous Implementation of Distributed Constrained Edge-Variable Fir Graph Filters

The asynchronous realization method of a distributed constrained edge-varying FIR graph filter according to the present invention, by introducing an advanced distributed constrained-edge-varying FIR graph filter, enables nodes to follow a random collection-calculation-broadcasting scheme. The distributed constrained edge-varying FIR graph filter is used for filtering operation to realize the graph signal denoising problem. The optimization goal is to minimize the error between the filtered signal and the node asynchronous communication output signal. The optimization problem is solved by genetic algorithm to get Coefficients of optimal distributed constrained edge-varying FIR graph filters. The beneficial effects of the present invention are as follows: the performance of the distributed graph filter can be improved at the expense of increasing the amount of computation, the communication energy consumption can be effectively saved, and the problem of signal denoising can be solved through the distributed constrained edge-varying FIR graph filter. , its denoising effect is better than that of other denoising image filters. Finally, Genetic Algorithm (GA) is used to solve the optimization problem to obtain the optimal graph filter coefficients.
Owner:NANJING UNIV OF POSTS & TELECOMM

DSP-based electroencephalogram digital filtering method and device

The invention discloses a DSP-based electroencephalogram digital filtering method and an electroencephalogram acquisition device. For requirement on the accuracy of signals when electroencephalogram signals are acquired, firstly, a differential amplifier circuit is utilized to amplify the electroencephalogram signals, a 16-bit AD with high accuracy is adopted so that the accuracy of the electroencephalogram signals is 0.5 uV, and on such a basis, a DSP performs signal processing. The DSP adopts a fixed-point signal processor of 5,000 series developed by the TI Company to perform the signal processing comprising band-pass filtering and wave trapping by adopting a Chebyshev best consistent approximation FIR filtering method to obtain the electroencephalogram signals of high quality. The method has the advantages of clear concept, the high accuracy and high speed. The invention provides a filtering algorithm with the high accuracy, which can be applied to the design of an electroencephalogram front-end amplifier and lay the foundation for the further analysis of the electroencephalogram signals.
Owner:YANSHAN UNIV

Wireless transmission device based on software radio filtering and method thereof

The invention discloses a wireless transmission device based on software radio filtering and a method thereof, belonging to the technical field of wireless communication. The device comprises a radio frequency transmitter, a radio frequency receiver, a transmission digital signal processing module and a receiving digital signal processing module, wherein the transmission digital signal processingmodule is connected with the radio frequency transmitter to transmit a digital signal; the radio frequency transmitter is wirelessly connected with the radio frequency receiver to transmit a wirelessanalogue signal; and the radio frequency receiver is connected with the receiving digital signal processing module to transmit an analogue signal. By adopting a filtering pre-processing method based on EMD and considering the characteristic of the wireless signal, the invention filters noises spreading all over frequency bands in the signal by means of EMD after the signal is received by a receiving antenna so as to ensure the filtering accuracy and the reliability of the wireless signal transmission with excellent effect. The invention can be applied to the filtering scheme of industry wireless communication and lay the foundation for wide application of the industry wireless communication.
Owner:SHANGHAI JIAO TONG UNIV

Channel estimation method and device, computer readable storage medium, terminal

A channel estimation method and device, a computer-readable storage medium, and a terminal, wherein the channel estimation method includes: performing preliminary channel estimation using pilots in the frequency domain to obtain multiple initial channel estimation values; using a filter bank to select The M initial channel estimation values ​​are filtered to obtain multiple filtering results, the filter bank includes multiple filters with various passband widths, and M is the number of taps of the filter in the filter bank; Among the plurality of filtering results, the filtering result with the smallest error value from the M initial channel estimation values ​​is selected as the channel estimation value. The accuracy and scope of application of channel estimation can be improved through the technical scheme of the invention.
Owner:BEIJING SPREADTRUM HI TECH COMM TECH CO LTD
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