189 results about "Complementary filter" patented technology

A multilingual text-to-speech system includes a source datastore of primary source parameters providing information about a speaker of a primary language. A plurality of primary filter parameters provides information about sounds in the primary language. A plurality of secondary filter parameters provides information about sounds in a secondary language. One or more secondary filter parameters is normalized to the primary filter parameters and mapped to a primary source parameter.

Shaped glasses have curved surface lenses with spectrally complementary filters disposed thereon. The filters curved surface lenses are configured to compensate for wavelength shifts occurring due to viewing angles and other sources. Complementary images are projected for viewing through projection filters having passbands that pre-shift to compensate for subsequent wavelength shifts. At least one filter may have more than 3 primary passbands. For example, two filters include a first filter having passbands of low blue, high blue, low green, high green, and red, and a second filter having passbands of blue, green, and red. The additional passbands may be utilized to more closely match a color space and white point of a projector in which the filters are used. The shaped glasses and projection filters together may be utilized as a system for projecting and viewing 3D images.

Shaped glasses have curved surface lenses and spectrally complementary filters disposed on the curved surface lenses configured to compensate for wavelength shifts occurring due to viewing angles and other sources. The spectrally complementary filters include guard bands to prevent crosstalk between spectrally complementary portions of a 3D image viewed through the shaped glasses. In one embodiment, the spectrally complementary filters are disposed on the curved lenses with increasing layer thickness towards edges of the lenses. The projected complementary images may also be pre-shifted to compensate for subsequent wavelength shifts occurring while viewing the images.

This invention describes a method for efficient beamforming for generalized sidelobe canceling using complementary noise separation filtering for generating a noise reference for adaptation performance of an adaptive interference canceller (AIC). The adaptive filter provides noise estimates to be subtracted from the desired signal path providing further noise reduction in the system output. More specifically, the present invention relates to a multi-microphone beamforming system similar to a generalized sidelobe canceller (GSC) structure, but the difference with the conventional GSC method is that the complementary filter used for desired signal blocking can be realized with a simple subtraction without compromising the beam steering flexibility of the polynomial beamforming filter front end using the desired target signal and the complementary background noise estimate signal, respectively, with the complexity of one complementary filter and one sum beamformer.

A coherence controller is included in a module which includes a plurality of multiprocessor units, each of which contains a main memory and processors equipped with respective cache memories. The module may be one of a plurality of similarly constructed modules connected by a router or other type of switching device. The coherence controller in each module includes a cache filter directory having a first filter directory for guaranteeing coherence between the local main memory and the cache memory in each of the processors of the module, and an external port connected to at least one of the other modules. The cache filter directory also includes a complementary filter directory, which tracks locations of lines or blocks of the local main memory copied from the module into other modules, and for guaranteeing coherence between the local main memory and the cache in each of the processors of the module and the other modules.

The invention discloses a hand movement tracking system and a hand movement tracking method. The invention comprises an attitude and heading reference system based on an accelerometer, a gyroscope and a magnetic sensor, and a hand movement tracking method based on the attitude and heading reference system. The hand movement tracking method comprises the following steps: firstly, obtaining a triaxial acceleration measured by the accelerometer, a triaxial angular velocity measured by the gyroscope and a triaxial magnetic-field component measured by the magnetic sensor, performing error compensation on the magnetic sensor by adopting a least square method to establish an error model after an upper computer receives sensor data, eliminating high-frequency noise of the triaxial acceleration by virtue of a window low-pass filter, and establishing an error model for the gyroscope so as to perform error compensation on random drift of the gyroscope; secondly, effectively integrating the gyroscope, the accelerometer and the magnetic sensor by virtue of an improved adaptive complementary filtering algorithm to obtain an attitude angle and a path angle; and finally, performing gravity compensation and discrete digital integration on acceleration signals to obtain a velocity and a track of a hand movement. The tracking system and the tracking method disclosed by the invention can be applied to a man-machine interactive system, is convenient to operate, and is strong in experience feeling.

The present invention provides a filtering method for IMU multi sensor data fusion, firstly data is collected, aircraft attitude data can be acquired by an IMU inertial measurement unit comprising a gyroscope, an accelerometer and other multiple sensors, and a sensor output information mathematical model expression formula can be established; output data processing is performed, and the output data processing mainly includes removal of interference information and noises by use of slide average filter and resolution of the rotation angle of each sensor based on a four element method; a high-pass filter and a low-pass filter are combined, PI control parameters are added into a low-pass filtering part, proportionality coefficient variable Kp and integral coefficient variable KI are introduced for design of an error correction negative feedback of a second order complementary filter so as to realize the data fusion of each sensor, and finally attitude angles are outputted. By introduction and setting of the PI control parameters, a negative-feedback-containing second order complementary filter algorithm is designed to fuse the information of each sensor to improve the measurement accuracy and dynamic performance of the system.

A filter assembly for a motor-vehicle air cleaner comprises a main filter, an auxiliary filter set apart from the main filter, and a filter mount fixed to and configured to support the main filter and the auxiliary filter. In this embodiment, the filter mount is fittable in and removable from a housing of the air cleaner, and comprises a sealing element passing between the main filter and the auxiliary filter.

The invention discloses a method for calculating a fusion attitude angle based on a complementary Kalman filtering algorithm. The method comprises the following steps: building an attitude angle measurement system, calculating and obtaining a first attitude angle according to gyroscope measurement data, calculating and obtaining a second attitude angle according to accelerometer measurement data; fusing the first attitude angle and the second attitude angle according to the Kalman filtering algorithm to obtain a third attitude angle; fusing the first attitude angle, the second attitude angle and the third attitude angle according to a complementary filtering principle to calculate and obtain the fusion attitude angle. According to the method for calculating the fusion attitude angle based on the complementary Kalman filtering algorithm, disclosed by the invention, the measurement precision of the attitude angle is greatly improved.

A wireless speaker system that transmits and receives both analog and digital audio signals simultaneously over a single channel at frequencies above 900 MHz. The present invention advantageously uses continuously variable slope delta (CVSD) modulation to perform analog-to-digital (A / D) and digital-to-analog (D / A) conversion of audio signals in the transmitter and receiver, respectively, using complementary filters and CVSD modulation circuits in both the transmitter and receiver. Analog signals are modulated in the transmitter with a high-frequency carrier and band-pass filtered before being combined with the digitized audio signal to modulate a high-frequency carrier, i.e. over 900 MHz, which is transmitted to the receiver. Similarly, the receiver band-pass filters and demodulates the received signal to recover the analog signal components.

The present invention provides a dust receptacle and a steam vacuum cleaner using the same, wherein the dust receptacle comprises an auxiliary filter in a dust collection bin to cause dust to settle or be distributed evenly inside the dust collection bin, and therefore to extend a cleaning cycle or replacement cycle of a main filter.

The invention discloses a bodybuilding dumbbell exercise detection device and method. A detection circuit of the detection device comprises a microcontroller module, an inertial sensor module, a battery supply management module and a radio frequency communication module, wherein the inertial sensor module, the battery supply management module and the radio frequency communication module are electrically connected with the microcontroller module, the microcontroller module is used for processing data by means of the bodybuilding dumbbell exercise and position detection algorithm and sending processing results and sensor data to a mobile phone or a tablet computer, and visual bodybuilding action assessment and prompts are provided for a user. According to the detection device and method, the position relationship between a bodybuilding dumbbell and the user can be accurately detected, and calorie consumption assessment and dumbbell bodybuilding action standard assessment of bodybuilding dumbbell exercise are achieved. The invention further provides the bodybuilding dumbbell exercise detection method at the same time, the current angle and speed information of the dumbbell are worked out by performing complementary filtering on information obtained through measurement of an inertial sensor, and the position of the dumbbell is worked out by means of the standard of specific dumbbell bodybuilding action and geometric exercise restraint of human joints.

A combined multirate-based Finite Impulse Response (FIR) filter equalization technique combines a low-order FIR equalization filter operating at a lower rate for equalization of a loudspeaker-room response at low frequencies, and a complementary low-order minimum-phase FIR equalization filter operating at a higher rate for equalization of the loudspeaker-room response at higher frequencies. The design of two complementary band filters for separately performing low and high frequency equalization, keeps the system delay at a minimum while maintaining excellent equalization performance. Splicing between the two equalization filters, for maintaining a flat magnitude response in the transition region of the two complementary filters, is done automatically through level adjustment of one equalization filter relative to the other. The present invention achieves excellent equalization at low filter orders and hence reduced computational complexity.

The invention discloses a low-altitude flight control method applied to airborne geophysical prospecting of an unmanned aerial vehicle. The low-altitude flight control method includes adopting complementary filter of pressure altitude and radio altitude of the unmanned aerial vehicle to obtain altitude signals with high signal to noise ratio as a low-altitude flight height control source of the unmanned aerial vehicle. High-frequency topographic influence can be filtered by flight altitude, terrain can be well tracked, and airborne geophysical prospecting flight operation can be realized effectively in hills and small-gradient mountainous areas, so that the unmanned aerial vehicle can fly at minimum altitude along topographic relief, track the terrain and effectively avoid obstacles and is capable of acquiring high-quality exploration data of an airborne geophysical prospecting operation aeromagnetic system and an airborne radioactive system, and geophysical prospecting safety is improved. Feasibility of the low-altitude flight control method is verified by practical tests, is completely succeeded and has pilot application effect for relevant flight control methods and creates basis for massive airborne geophysical prospecting application in the unmanned aerial vehicle.

The invention discloses a flight attitude determining method based on a polarized light sensor. According to the invention, adopted equipment comprises a three-axis gyroscope, a three-axis accelerometer, the polarized light sensor, a GPS and a flight control computer. A complementary filter algorithm is used to fuse sensor data; pitch angle and rolling angle errors of the angular speed of the gyroscope are revised through measured data of the accelerometer; and an course angle error of the angular speed of the gyroscope is revised through measured data of the polarized light sensor, so that the attitude measurement precision of an aircraft is improved. Compared with a traditional flight attitude reference system, the flight attitude determining method has the advantages that the flight attitude determining method is not interfered by electromagnetism, the measurement precision of static and dynamic environments is high and the like.

The invention relates to a method and a system for resolving an attitude of an unmanned aerial vehicle with double controller. An unmanned aerial vehicle attitude resolving system which includes a main engine and a slave engine is arranged; in the main engine, an attitude angle resolved by an accelerometer and an electronic compass is adopted for performing drift compensation on the attitude angleresolved by a gyroscope, a complementary filtering algorithm is adopted for primarily fusing the attitude angle resolved by the accelerometer and the electronic compass with the attitude angle resolved by the gyroscope, noise is filtered and attitude angle drifting is restrained; the attitude angle after complementary filtering is transmitted to the slave engine, an EKF is adopted for promoting the resolving accuracy of attitude angle and the resolved high-precision attitude angle is transmitted by the slave engine to the main engine for attitude compensation and control in the manner of taking 50HZ as a period; the EKF is an expanded kalman filter algorithm; when no attitude angle information is received by the main engine from the slave engine, the attitude angle resolved by the complementary filtering algorithm in the main engine is adopted for controlling attitude. The system provided by the invention can promote the accuracy of resolved attitude and has high practicability.

A dust collecting apparatus for a vacuum cleaner, which includes, a cyclonic chamber with an air inlet and a first outlet being formed therein, the cyclonic chamber causing air from the air inlet to spin therein, a dust receptacle connected to the cyclonic chamber, a grill assembly in the cyclonic chamber and on the upstream side of the air outlet to prevent dust and contaminants separated from the air from backflowing through the first air outlet, a main filter assembly connected to the grill assembly for filtering out dust and contaminants from the air backflowing from the grill assembly, and a supplementary filter assembly on the outside of the cyclonic chamber to re-filter the fine dust and contaminants incoming from the first air outlet. While conventional cyclone type vacuum cleaners are limited by the amount of contaminants that can be separated from the air, the disclosed vacuum cleaner can more effectively separate dust and contaminants.

A second-order filter that blends accurate position information from a one source, and velocity information from another source, both suitably scaled, in a second-order complementary filter. The filter is arranged such that an internal integrator maintains a value that represents the difference in the rate of change of the accurate position information, and the velocity input of the other source. This velocity difference is applied to another integrator outside the filter, whose initial condition is the position error between the two sources to the second order filter. The output of this latter integrator is a correction signal that grows at a rate equal and opposite to the rate of error build-up of position data from the source whose velocity is used in the second order filter. This correction signal is summed with the original position signal. In addition, the output of the second order filter may be used as a highly accurate position signal.

The invention discloses an MEMS inertial navigation system and a track reconstruction method based on the same. A six-position method is applied to error factor identification on a gyroscope and an accelerometer, a static error model is obtained, and therefore static errors are compensated; the random error of the gyroscope and the accelerometer is remarkably reduced through filtering of a low pass filter, noise is lowered, and output precision is improved. A complementary filter algorithm is adopted for effectively combining the updated attitude angles of the gyroscope and the accelerometer to obtain an attitude matrix. The attitude matrix is used for acceleration conversion and gravity compensation, and then the triaxial acceleration of a navigation module in an inertial coordinate system is obtained. Finally, track and speed information is obtained through iterative dual integration. The independently solved attitude angles of the accelerometer and the gyroscope are combined through the complementary filter algorithm, divergency of drifting of the attitude angles can be restrained, and attitude calculation is greatly improved in a dynamic state and a static state.

The invention discloses an initial alignment method for an MEMS-IMU. Through the initial alignment method, the initial rough alignment time of a strapdown inertial system is further shortened, and the precision of the strapdown inertial system is further improved. The initial alignment method comprises the following steps that 1, sensor data are acquired, wherein the sensor data comprise the data of an MEMS gyroscope and an MEMS accelerometer; 2, initial alignment coordinate systems are established, wherein the initial alignment coordinate systems comprise the solidified carrier coordinate system, the earth coordinate system, the navigation coordinate system and the carrier coordinate system; 3, initial alignment objective functions are established, and an optimal speed reducing method of quick alignment is constructed; 4, a parameter equation of the optimal speed reducing method is determined through the complementary filter principle; 5, a carrier attitude angle is resolved through an quaternion updating algorithm, and calculation of an initial attitude matrix is achieved. According to the initial alignment method for the MEMS-IMU, the calculation precision and efficiency of an initial alignment algorithm are effectively improved, and the application range is wide.

The invention discloses an IMU-based indoor positioning method, and its technical characteristics are: step S1, according to the collected human body motion acceleration data, use a finite state machine to segment the effective gait and complete step counting and step length estimation; step S2 , according to the angular velocity (gyroscope), acceleration (acceleration sensor) and magnetic field strength (magnetic field sensor) data of effective gait, use the complementary filtering model to calculate the motion direction of current gait; Step S3, according to step length, motion direction estimation result and The map information is subjected to particle filtering, and the parameters of the step size model and the complementary filtering model are adjusted according to the properties of effective surviving particles. The invention uses a finite state machine to effectively remove invalid gait information and reduce the amount of data calculation; uses a complementary filter model to effectively fuse various sensor information to provide more accurate direction measurement results; uses a particle filter method to dynamically adjust the gait model and Complementary filtering model parameters, thereby reducing the step size estimation error and direction measurement error; comprehensively, the present invention can effectively suppress the error accumulation phenomenon in the dead reckoning process, and improve the accuracy of indoor positioning.

The invention discloses a complementary filtering attitude fusion algorithm and cascade PID control algorithm based mini four-rotor aircraft control system. The fusion algorithm can effectively fuse angular velocity information outputted by a gyroscope and acceleration information measured by an accelerometer to compensate error of the two, and long-term accurate and stable attitude information is obtained. The cascade PID control algorithm takes an angular velocity loop as an inner loop and an angular loop as an inner loop, inner loop feedback is acquired directly through an angular velocity transducer, introduction of error is avoided, and output of the outer loop is directly taken as input of the inner loop. Control accuracy and stability of the system are improved effectively.

The invention provides a rapid convergence method based on an improved complementary filter for an attitude of a self-balance mobile robot, and belongs to the technical field of motion control and multi-sensor data fusion. The method is mainly used at an initial motion stage of the mobile robot and enables the mobile robot to be fast stably started. An attitude detection module mainly comprises an MEMS inertial sensor, such as a micro-controller, a gyroscope, an accelerometer, and a magnetometer. According to the method, an angle of inclination estimated by a component of a gravitational field of the accelerometer is taken as auxiliary information; a yaw angle calculated by the magnetometer is obtained through compensation of the angle of inclination; and angular rate information of the gyroscope at three axes is obtained through an euler angle attitude algorithm. Data of the gyroscope and an auxiliary sensor is fused through a complementary filter with parameters flexibly adjusted, and an optimum attitude angle is calculated in time. According to the method, the attitude detection module can quickly respond to an initial attitude angle; noise and drift error can be obviously suppressed; the mobile robot can be quickly stably started; and the stability of the mobile robot is enhanced.

An electronic device determines an estimate ({circumflex over (q)}) of angular position as a function of an accelerometric signal (acc) supplied by an accelerometric sensor and as a function of at least one between a gyroscopic signal (gyro) supplied by a gyroscopic sensor and a magnetic signal (mag) supplied by a magnetic-field sensor. A processing module implements a complementary filter, which is provided with a first processing block, a second processing block, and a combination block. The first processing block receives the acceleration signal (acc) and an input signal (mag′) indicative of the magnetic signal (mag) and generates a geomagnetic quaternion (qAccMag). The second processing block receives a signal indicative of the gyroscopic signal (gyro) and generates a gyroscopic quaternion (qGyro). The combination block determines the estimate ({circumflex over (q)}) of angular position by complementarily combining the geomagnetic quaternion (qAccMag) and the gyroscopic quaternion (qGyro) based on a combination factor (K) that has a dynamic value and an adaptive value and that varies as a function of the operating conditions.

The invention relates to the field of human body movement recognition, and provides a swimming attitude measuring method based on a wearing-type sensor. The method comprises the steps that a moving signal and a magnetometer signal of limbs when a body stands and swims are collected by using the wearing type sensor respectively; the initial attitude of the limbs is obtained, correction is conductedon the initial attitude, and the corrected initial attitude is obtained; quaternion of a sensor coordinate system and a geographical coordinate system can be obtained through a gravity vector direction and a magnetic field north magnetic pole direction, and the quaternion is utilized to perform calibration on the body initial attitude and a biomechanic model, a complementary filtering algorithm is utilized to eliminate sensor error, and body swimming attitude updating is conducted by using the moving signal and the magnetometer signal in the swimming process. By means of the method, swimmingbody attitude can be captured, and the attitudes of swimmers are comparable through kinematic analysis.

The invention discloses a fusing method of an atmospheric attack angle and an inertia attack angle in transonic flight stage. The fusing method comprises the following steps of: firstly, data acquisition; secondly, transonic flight stage judgment; thirdly, inertia attack angle solution; fourthly, complementary filtering fusing; and fifthly, BP neural network correction. Through a complementary filter, the method inhibits impact wave interference fluctuation of the atmospheric attack angle, and enables complementary fused attack angles to eliminate fierce fluctuation and become stable. Further, by utilizing a favorable learning ability and a non-linear approximation property of the neural network, the method ensures a better anastomosis degree between a real attack angle and a final fused modified attack angle which is treated by the neural network, and enables whole precision and reliability of the attack angle to be improved further. By replacing a primary atmospheric attack angle in the transonic flight stage with the fused modified attack angle, the invention can effectively improve whole precision of the attack angle during flight, and provides a beneficial foundation of accurate navigation and flight control.

The invention discloses a sleeping-posture judgment method based on MPU-6050. The sleeping-posture judgment method includes the steps that acceleration data and angular speed data of a to-be-detectedperson in the sleeping process are obtained; the obtained acceleration data and the obtained angular speed data are subjected to Kalamn filtering, noise is removed, and thus rotation matrix data is obtained; the acceleration data and the angular speed data are fitted with the complementary filtering algorithm, the fitted data is resolved through a quaternion differential equation, the quaternary posture number is obtained, and is unitized, and eulerian angles are finally obtained; three eulerian angle data series are cut with the sliding window method, and characteristic values are extracted;ranges of the characteristic values of the three eulerian angles are subjected to posture division with the decision tree method, and the sleeping posture of the to-be-detected person is finally judged. According to the sleeping-posture judgment method based on the MPU-6050, the sleeping posture is effectively detected, and the method can assist persons in improving the sleeping quality and promoting good health.

A motor assembly for a vacuum cleaner for providing a user with a quieter environment during a cleaning work, and a vacuum cleaner having the same, is disclosed. The motor assembly includes a motor generating a suction force, an auxiliary filter member disposed on an airflow path connecting the motor to a dust-collecting apparatus for filtering a second time the air discharged from the dust-collecting apparatus, and a motor casing. The motor casing includes a first chamber connected to the dust-collecting apparatus with the auxiliary filter member mounted therein. A second chamber is connected to a discharge opening of the cleaner body and includes the motor mounted therein. A connection path is in fluid communication with the first chamber and the second chamber.