CN109687842A - A kind of filter for flexure gyroscope noise - Google Patents

A kind of filter for flexure gyroscope noise Download PDF

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Publication number
CN109687842A
CN109687842A CN201811579079.2A CN201811579079A CN109687842A CN 109687842 A CN109687842 A CN 109687842A CN 201811579079 A CN201811579079 A CN 201811579079A CN 109687842 A CN109687842 A CN 109687842A
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Prior art keywords
yout
trapper
digital
filter
frequency
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CN201811579079.2A
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李敬蕊
杨少军
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SHAANXI AEROSPACE NAVIGATION EQUIPMENT CO Ltd
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SHAANXI AEROSPACE NAVIGATION EQUIPMENT CO Ltd
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Priority to CN201811579079.2A priority Critical patent/CN109687842A/en
Publication of CN109687842A publication Critical patent/CN109687842A/en
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    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
    • H03H17/00—Networks using digital techniques
    • H03H17/02—Frequency selective networks
    • H03H17/0219—Compensation of undesirable effects, e.g. quantisation noise, overflow
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
    • H03H17/00—Networks using digital techniques
    • H03H17/02—Frequency selective networks
    • H03H17/0248—Filters characterised by a particular frequency response or filtering method
    • H03H17/025—Notch filters

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Mathematical Physics (AREA)
  • Gyroscopes (AREA)

Abstract

The invention discloses a kind of filters for flexure gyroscope noise, including the A/D converter being connect with gyroscope, arm processor is connected in the A/D converter output end, one group of digital trap in cascade is written in the arm processor, each digital trap type is iir filter, and difference equation is as follows:Wherein aiMolecule in corresponding trapper coefficient, biCorresponding denominator；After the series connection of multi-stage digital trapper, digital filter: yout is realized using following formk(n)=a0k*youtk‑1(n)+a1k*youtk‑1(n‑1)+…+aMk*youtk‑1(n‑M)‑b1k*youtk(n‑1)‑b2k*youtk(n‑2)‑…‑bNk*youtk(n‑k)Wherein, y is output signal, and x is the input signal of trapper, and n indicates the time, and k is trapper series, youtkFor the output of kth stage notch device, youtk‑1For the output of -1 stage notch device of kth, a0k, a1k…aMkFor the numerator coefficients of kth stage notch device, b0k, b1k…bNkFor the denominator coefficients of kth stage notch device, the gyroscope signal after noise reduction is exported after handling by arm processor.

Description

A kind of filter for flexure gyroscope noise
Technical field
The present invention relates to a kind of gyroscope filters.
Background technique
The method of flexible gyroscope signal filtering at present is before signal enters A/D converter using simulation trapper and low pass Filter: simulation trapper is filtered for the frequency and its frequency multiplication of gyro motor, outside low-pass filter filtering appts frequency band Noise.Simulation trapper is generally made of amplifier and resistance capacitance, need to be cooperated when changing trap frequency and be changed resistance capacitance value, Debugging is inconvenient；If multiple frequencies need to be carried out to trap, circuit is complicated, is unfavorable for Miniaturization Design.Low pass filter cutoff frequency Selection need choosing comprehensively phase shift and filter effect: if cutoff frequency, close to system bandwidth, good wave filtering effect, but phase shift is big, It is not suitable for the higher occasion of requirement of real-time；If cutoff frequency is much larger than system bandwidth, phase shift is small, but filter effect is not It is good, it is not suitable for the occasion stringent to noise requirements.
Summary of the invention
In order to solve deficiency in the prior art, a kind of using flexible is provided, trapper sum of series trap frequency can be free The gyroscope filter of setting, the technical solution adopted by the present invention is that:
A kind of filter for flexure gyroscope noise, including the A/D converter being connect with gyroscope, in the A/ D converter output end is connected with arm processor, and one group of number in cascade is written in the arm processor and is fallen into Wave device, each digital trap type is iir filter, and difference equation is as follows:
Wherein aiMolecule in corresponding trapper coefficient, biCorresponding denominator；
After the series connection of multi-stage digital trapper, digital filter is realized using following form:
youtk(n)=a0k*youtk-1(n)+a1k*youtk-1(n-1)+…+aMk*youtk-1(n-M)-b1k*youtk(n- 1)-b2k*youtk(n-2)-…-bNk*youtk(n-k)
Wherein, y is output signal, and x is the input signal of trapper, and n indicates the time, and k is trapper series, youtkFor The output of kth stage notch device, youtk-1For the output of -1 stage notch device of kth, a0k, a1k…aMkFor the molecule system of kth stage notch device Number, b0k, b1k…bNkFor the denominator coefficients of kth stage notch device, the gyroscope after noise reduction is exported after handling by arm processor is believed Number.
Further, digital trap is designed for each noise frequency using the tool box MATLAB FDATool；Respond class Type is single-frequency trapper, and order is set as M rank, and sample frequency, trap frequency and bandwidth are determines according to actual conditions.
Further, it is filtered using the tool box MATLAB FDATool for each noise frequency design digital trap Wave device coefficient, the coefficient are provided in the form of molecule and denominator: Numerator=[a0, a1... aM], Denominator=[b0, b1... bN], difference equation is
Y (n)=a0*x(n)+a1*x(n-1)+…+aM*x(n-M)-b1*y(n-1)-b2*y(n-2)-…-bN*y(n-N)
The digital trap for realizing single-frequency is programmed according to above-mentioned difference equation in arm processor.
It using the digital filter is carried out after A/D converter enters digital signal processor to noise in gyro signal Filtering, digital filter are made of multi-stage digital trapper, and using flexible, trapper sum of series trap frequency can freely be set, It only needs to change the coefficient of digital trap when changing frequency filtering, and programs simply, debugging is convenient, and it is small-sized to be conducive to circuit Change；Influence for system phase shift is smaller, the occasion suitable for high real-time requirements.
Detailed description of the invention
Fig. 1 is digital filter form.
Specific embodiment
Digital signal processor acquires noise-containing gyro output signals, and the signal is stored as TXT or other numbers According to document form.Fft analysis is carried out to signal data using MATLAB, finds out the higher noise frequency of amplitude, noise frequency Number can determine as needed.Using MATLAB (matrix labotstory) tool box FDATool (filter design and analysis) for every A noise frequency designs digital trap.The form of digital trap is iir filter (structure type is direct II type), response Type is single-frequency trapper, and order is set as M rank, and sample frequency, trap frequency and bandwidth are determines according to actual conditions.
Filter coefficient is obtained according to arrangement above, which is provided in the form of molecule and denominator: Numerator=[a0, a1... aM], Numerator (molecule)；Denominator=[b0, b1... bN], Denominator (denominator).Due to MATLAB Middle filter difference equation feedback term symbol is negative sign, therefore difference equation is
Y (n)=a0*x(n)+a1*x(n-1)+…+aM*x(n-M)-b1*y(n-1)-b2*y(n-2)-…-bN*y(n-N)
The digital trap of single-frequency can be realized according to the programming of above-mentioned difference equation in digital signal processor.
Cascade for multi-stage digital trapper is realized using following form:
youtk(n)=a0k*youtk-1(n)+a1k*youtk-1(n-1)+…+aMk*youtk-1(n-M)-b1k*youtk(n- 1)-b2k*youtk(n-2)-…-bNk*youtk(n-k)
Wherein, y is output signal, and x is the input signal of trapper, and n indicates the time, and k is trapper series, youtkFor The output of kth stage notch device, youtk-1For the output of -1 stage notch device of kth, a0k, a1k…aMkFor the molecule system of kth stage notch device Number, b0k, b1k…bNkFor the denominator coefficients of kth stage notch device.
The digital filter carries out a large number of experiments verifying, and filter effect is significant, and debugging is convenient, on system phase shift influence compared with It is small, it has been successfully applied in certain model servo mechanism control.

Claims (3)

1. a kind of filter for flexure gyroscope noise, including the A/D converter being connect with gyroscope, it is characterised in that: It is connected with arm processor in the A/D converter output end, one group is written in the arm processor in series connection shape The digital trap of formula, each digital trap type is iir filter, and difference equation is as follows:
Wherein aiMolecule in corresponding trapper coefficient, biCorresponding denominator；
After the series connection of multi-stage digital trapper, digital filter is realized using following form:
youtk(n)=a0k*youtk-1(n)+a1k*youtk-1(n-1)+…+aMk*youtk-1(n-M)-b1k*youtk(n-1)- b2k*youtk(n-2)-…-bNk*youtk(n-k)
Wherein, y is output signal, and x is the input signal of trapper, and n indicates the time, and k is trapper series, youtkFor kth grade The output of trapper, youtk-1For the output of -1 stage notch device of kth, a0k, a1k...aMkFor the numerator coefficients of kth stage notch device, b0k, b1k...bNkFor the denominator coefficients of kth stage notch device, the gyroscope signal after noise reduction is exported after handling by arm processor.
2. a kind of filter for flexure gyroscope noise according to claim 1, it is characterised in that: use MATLAB Tool box FDATool designs digital trap for each noise frequency；Respond style is single-frequency trapper, order setting For M rank, sample frequency, trap frequency and bandwidth are determines according to actual conditions.
3. a kind of filter for flexure gyroscope noise according to claim 2, it is characterised in that: use MATLAB Tool box FDATool obtains filter coefficient for each noise frequency design digital trap, and the coefficient is with molecule and denominator Form provides:
Numerator=[a0, a1... aM], Denominaor=[b0, b1... bN], difference equation is
Y (n)=a0*x(n)+a1*x(n-1)+…+aM*x(n-M)-b1*y(n-1)-b2*y(n-2)-…-bN*y(n-N)
The digital trap for realizing single-frequency is programmed according to above-mentioned difference equation in arm processor.
CN201811579079.2A 2018-12-24 2018-12-24 A kind of filter for flexure gyroscope noise Withdrawn CN109687842A (en)

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Citations (7)

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Publication number Priority date Publication date Assignee Title
US5400084A (en) * 1992-05-14 1995-03-21 Hitachi America, Ltd. Method and apparatus for NTSC signal interference cancellation using recursive digital notch filters
US20040066162A1 (en) * 2002-09-26 2004-04-08 3M Innovative Properties Company Adaptable spatial notch filter
CN102045036A (en) * 2011-01-27 2011-05-04 中山大学 Digital phase lock amplifier
CN103984873A (en) * 2014-05-31 2014-08-13 福州大学 Method for applying digital signal processing algorithm to DSP system
CN105191159A (en) * 2013-03-14 2015-12-23 高通股份有限公司 Adaptive filter bank for dynamic notching in powerline communication
CN108566179A (en) * 2018-03-09 2018-09-21 北京北方联星科技有限公司 A kind of second order IIR digital traps and parameter quantification method
CN108594641A (en) * 2018-04-10 2018-09-28 天津大学 Inhibit the method for servo resonance based on the asymmetric notch filter of centre frequency

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5400084A (en) * 1992-05-14 1995-03-21 Hitachi America, Ltd. Method and apparatus for NTSC signal interference cancellation using recursive digital notch filters
US20040066162A1 (en) * 2002-09-26 2004-04-08 3M Innovative Properties Company Adaptable spatial notch filter
CN102045036A (en) * 2011-01-27 2011-05-04 中山大学 Digital phase lock amplifier
CN105191159A (en) * 2013-03-14 2015-12-23 高通股份有限公司 Adaptive filter bank for dynamic notching in powerline communication
CN103984873A (en) * 2014-05-31 2014-08-13 福州大学 Method for applying digital signal processing algorithm to DSP system
CN108566179A (en) * 2018-03-09 2018-09-21 北京北方联星科技有限公司 A kind of second order IIR digital traps and parameter quantification method
CN108594641A (en) * 2018-04-10 2018-09-28 天津大学 Inhibit the method for servo resonance based on the asymmetric notch filter of centre frequency

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
成华强等: "频率可配置数字陷波器及其在FPGA中的实现", 《电子质量》 *
李献斌等: "级联陷波器抗窄带干扰设计与实现", 《电子测量与仪器学报》 *

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