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Noise estimation method based on UDE estimator

A technology of noise estimation and estimator, applied in the field of sensor filtering, to avoid delay, achieve good performance, and achieve the effect of accurate estimation

Active Publication Date: 2020-12-04
CHENGDU AERONAUTIC POLYTECHNIC
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Problems solved by technology

[0003] The purpose of the present invention is to solve the estimation problem of sensor noise, propose a kind of sensor noise estimation method based on UDE estimator

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  • Noise estimation method based on UDE estimator

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Embodiment Construction

[0046] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0047] In the present invention, UDE means based on model uncertainty and external disturbance estimation.

[0048] Such as figure 1 As shown, the present invention provides a kind of noise estimation method based on UDE estimator, comprises the following steps:

[0049] S1: Establish the state space expression according to the differential equation of the control system, and obtain the system characteristic matrix;

[0050] S2: Select the high-frequency filter according to the order of the control system;

[0051] S3: Select the filter parameter array according to the order of the control system;

[0052] S4: According to the system characteristic matrix, the high-frequency filter and the filter parameter matrix, calculate the sensor noise estimation value, and complete the noise estimation.

[0053] In the embodiment of the present invention, such ...

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Abstract

The invention discloses a noise estimation method based on a UDE estimator, and the method comprises the following steps: S1, building a state space expression according to a differential equation ofa control system, and obtaining a system feature matrix; S2, selecting a high-frequency filter according to the order of the control system; S3, selecting a filtering parameter matrix according to theorder of the control system; S4, calculating a sensor noise estimation value according to the system characteristic matrix, the high-frequency filter and the filtering parameter matrix to complete noise estimation. The invention provides a sensor noise estimation method based on a UDE thought for a low-cost MEMS sensor. According to the estimated value of the sensor noise, the correction of the sensor can be realized, so the effective application of the sensor data is realized, and the accurate estimation of the sensor noise can be realized. The filter can be used as a part of a control system to be integrated in the system, and delay caused by direct filtering at the initial stage of data is avoided.

Description

technical field [0001] The invention belongs to the technical field of sensor filtering, in particular to a method for estimating sensor noise based on a UDE estimator. Background technique [0002] In recent years, the rapid development of the emerging electronics industry has benefited from a large number of applications of MEMS sensors with favorable prices and strong performance. In devices such as drones, mobile phones, and VR, MEMS sensors play a huge role. However, limited by the sensitivity of low-cost MEMS sensors to noise, the performance of devices such as drones, mobile phones, and VR has also been greatly affected. If the noise of the sensor can be estimated and compensated when the sensor data is applied, this will have positive application significance for improving the performance of devices using MEMS sensors. Contents of the invention [0003] The purpose of the present invention is to solve the estimation problem of sensor noise, and propose a method f...

Claims

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Application Information

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IPC IPC(8): G06F17/13G06F17/16G01D18/00
CPCG06F17/13G06F17/16G01D18/00
Inventor 王强何先定刘明鑫王思源田园黄爱华
Owner CHENGDU AERONAUTIC POLYTECHNIC
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