无线电工程2025，Vol.55Issue(5)：975-983,9.DOI:10.3969/j.issn.1003-3106.2025.05.009
基于小波滤波和卡尔曼滤波的IMU噪声抑制方法
An IMU Noise Suppression Method Based on Wavelet Filter and Kalman Filter
张军 1于洪胜1
作者信息
- 1. 哈尔滨理工大学自动化学院,黑龙江 哈尔滨 150080
- 折叠
摘要
Abstract
When the Inertial Measurement Unit(IMU)is used to calculate the attitude of the carrier,the factors such as body vibration and cumulative error will have a significant influence on the calculation results.In order to solve the above problem,an IMU noise suppression method is proposed based on wavelet filter and Kalman filter.In this method,the original data of the gyroscope and accelerometer in the IMU are initially processed for noise suppression through Gaussian weighted moving average filtering combined with wavelet filtering,and the Proportion Integral Differential(PID)control algorithm is used to effectively fuse the output data of gyroscope and accelerometer after noise reduction,so as to reduce the effect of the cumulative error and vibration noise.Finally,the time series analysis is used to establish a mathematical model to provide initial parameters for the Kalman filter,and the fused data are further optimized by the Kalman filter to improve the noise suppression effect.The experimental results show that the standard deviation of the proposed method is reduced by 93.83％compared with that of the unfiltered data,which significantly suppresses the vibration noise and cumulative error,and effectively improves the anti-noise performance of IMU in the attitude calculation process.关键词
惯性测量单元/小波滤波/卡尔曼滤波/震动噪声/累计误差Key words
IMU/wavelet filtering/Kalman filter/vibration noise/cumulative error分类
计算机与自动化引用本文复制引用
张军,于洪胜..基于小波滤波和卡尔曼滤波的IMU噪声抑制方法[J].无线电工程,2025,55(5):975-983,9.
