中医正骨虚拟仿真系统中传感器信息的降噪处理研究
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摘要
目的:在中医正骨虚拟仿真系统中,使用六轴陀螺仪读出模拟人体尺骨的姿态角度,使用卡尔曼滤波器对六轴陀螺仪的漂移数据进行降噪。方法:利用MATLAB 2010模拟仿真数据降噪效果并作有效分析;在中医正骨虚拟仿真系统中,采集仿真系统的原始实验数据,使用卡尔曼滤波算法降噪,对比降噪效果。结果:模拟实验中,卡尔曼滤波器去除了大部分漂移,数据接近理论数据;系统实验中,经卡尔曼滤波算法降噪后的数据趋于平顺,减少了抖动,降噪处理效果明显。结论:卡尔曼滤波算法在中医正骨虚拟仿真系统中的应用是可行的,为降噪处理在中医正骨虚拟仿真方面的研究提供了科学依据。
Objective To apply Kalman filter to noise reduction of the drift data of the six-axis gyroscope after reading out the angle of the mannequin ulna in the virtual simulation system for Traditional Chinese medicine bone-setting.Methods Data noise reduction was simulated with MATLAB 2010,and efficacy analysis was carried out.The original experiment data of traditional Chinese medicine bone-setting virtual simulation system were acquired,and then underwent noise reduction with Kalman filter.The effects for noise reduction were compared.Results In the simulation experiment,most of the errors were removed by Kalman filter,and the data approached the theoretical data;in the virtual simulation system of traditional Chinese medicine bone-setting,the data tended to be smooth,most of the errors were removed and effective results could be seen.Conclusion Kalman filter is feasible in the virtual simulation system of traditional Chinese medicine bone-setting,and noise reduction may find references in virtual simulation of traditional Chinese medicine bone-setting.
Objective To apply Kalman filter to noise reduction of the drift data of the six-axis gyroscope after reading out the angle of the mannequin ulna in the virtual simulation system for Traditional Chinese medicine bone-setting.Methods Data noise reduction was simulated with MATLAB 2010,and efficacy analysis was carried out.The original experiment data of traditional Chinese medicine bone-setting virtual simulation system were acquired,and then underwent noise reduction with Kalman filter.The effects for noise reduction were compared.Results In the simulation experiment,most of the errors were removed by Kalman filter,and the data approached the theoretical data;in the virtual simulation system of traditional Chinese medicine bone-setting,the data tended to be smooth,most of the errors were removed and effective results could be seen.Conclusion Kalman filter is feasible in the virtual simulation system of traditional Chinese medicine bone-setting,and noise reduction may find references in virtual simulation of traditional Chinese medicine bone-setting.
引文
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[2]杨文,侍洪波,汪小帆.卡尔曼一致滤波算法综述[J].控制与决策,2011,26(4):481-488.
[3]杨万梅.多传感器信息融合及应用[M].西安:西安电子科技大学出版社,2004.
[4]吴新华,李宏伟.浅谈科里奥利力的影响及应用[J].河北北方学院学报(自然科学版),2008,24(1):36-38.
[5]蒋鹏.小波理论在信号去噪和数据压缩中的应用研究[D].杭州:浙江大学,2004.
[6]崔锦泰,陈关荣.卡尔曼滤波及其实时应用[M].北京:清华大学出版社,2013.
[7]张鹤冰.概率假设密度滤波算法及其在多目标跟踪中的应用[D].哈尔滨:哈尔滨工程大学,2012.
[8]宋迎春.动态定位中的卡尔曼滤波研究[D].长沙:中南大学,2006.
[9]HIDE C,MOORE T,SMITH M.Adaptive Kalman filtering algorithms for integrating GPS and low cost INS[J].Position Location and Navigation Symposium,2004,29:227-233.
[10]CHANG G.Kalman filter with both adaptivity and robustness[J].Journal of Process Control,2014,24(3):81-87.
[11]陈伟.基于四元数和卡尔曼滤波的姿态角估计算法研究与应用[D].秦皇岛:燕山大学,2015.
[12]张少华.基于四轴飞行器的管道机器人的研究[D].苏州:苏州大学,2013.
[13]DEMETRIOU M A.Design of consensus and adaptive consensus filters for distributed parameter systems[J].Automatica,2012,46(2):300-311.
[14]曹慧,宋晓瑞,邱鹏,等.虚拟正骨手法中多传感器信息融合算法研究[J].中国海洋大学学报,2011,4(4):127-130.
[15]张俊忠,邱鹏,李传莉,等.中医正骨复位手法信息采集系统的设计[J].计算机仿真,2012,29(2):297-300.