Chin. Phys. B ›› 2014, Vol. 23 ›› Issue (1): 10701-010701.doi: 10.1088/1674-1056/23/1/010701
Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot
高娃a, 查富生a, 宋宝玉b, 李满天a
- a State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;
b Department of Mechanical Design, Harbin Institute of Technology, Harbin 150001, China
Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot
Gao Wa (高娃)a, Zha Fu-Sheng (查富生)a, Song Bao-Yu (宋宝玉)b, Li Man-Tian (李满天)a
- a State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;
b Department of Mechanical Design, Harbin Institute of Technology, Harbin 150001, China
摘要： This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering performance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.
中图分类号: (Signal processing electronics)
- 07.50.Qx