Accelerometer signal denoising method based on particle filtering and wavelet transform

Abstract

The invention discloses an accelerometer signal denoising method based on particle filtering and wavelet transform. The accelerometer signal denoising method based on particle filtering and wavelet transform comprises the following steps: initializing particles, applying particle filter to a pretreatment portion of acceleration signal denoising, and retaining low entropy of wavelet denoising; calculating the weight of each particle according to the relation between an observation value and a pre-measured value, preliminary estimating the states of the particles according to the normalized weight, abandoning the particles with small weights, and overcoming degradation phenomena of the particles; transforming initial state estimation of acceleration signals to a wavelet domain, selecting a suitable wavelet basis and a suitable wavelet decomposition layer number, and carrying out wavelet decomposition on obtained initial state estimation: carrying out threshold quantifying on high-frequency coefficients of wavelet decomposition, and reconstructing state signals by various layers of coefficients of wavelet decomposition, wherein the reconstructed signals are denoised acceleration signals. By the method, noise distribution conditions of an accelerometer do not need to be considered, and the denoising degree is increased by increasing the number of particles of a particle filter device.

Description

technical field

[0001] The invention relates to the fields of signal processing and autonomous positioning, in particular to an accelerometer signal denoising method based on particle filter and wavelet transform. Background technique

[0002] With the improvement of people's living standards, the demand for services based on location information such as navigation and route planning is increasing year by year. Unlike outdoor positioning, there is currently no widely accepted and applied solution for indoor positioning such as GPS. Compared with technologies such as RFID that require the deployment of expensive hardware devices, inertial sensor technology that is inexpensive and easy to maintain is currently gaining more and more attention. However, the measurement error of the accelerometer signal caused by noise will increase rapidly over time, often resulting in unsatisfactory positioning accuracy, so the denoising of the accelerometer signal is essential. The accelerat...

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