Magnetic compass sensor adaptive signal filtering method based on improved Kalman filtering

• Main Authors: TANG BAOQUAN, GUO YUAN, PENG GENZHAI
• Format: Patent
• Language: Chinese; English
• Published: 12.04.2024
• Subjects: BASIC ELECTRONIC CIRCUITRY; CALCULATING; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; ELECTRICITY; GYROSCOPIC INSTRUMENTS; IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION,OR SHOCK; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RESONATORS; SURVEYING; TESTING

The invention discloses a magnetic compass sensor adaptive signal filtering method based on improved Kalman filtering, which belongs to the field of signal processing, and comprises the following steps: on the basis of a conventional Kalman filtering equation, adding a system covariance matrix correction parameter # imgabs0 #, and preferably adding a condition threshold # imgabs1 # and a system characteristic correction coefficient # imgabs2 #; according to the method disclosed by the invention, the Kalman gain # imgabs3 # of the digital filter can be adaptively adjusted according to the condition of the current measured value in the filtering process, so that the functional requirement of the magnetic compass for resolving the output attitude angle in real time is met on the basis of ensuring that the sensor data has relatively high filtering precision, and the effect of effectively reducing the traditional filtering time delay is achieved. 本发明公开了一种基于改进卡尔曼滤波的磁罗盘传感器自适应信号滤波方法，属于信号处理领域，其方法为在常规卡尔曼滤波方程的基础上，增设系统协方