Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot  

作　　者：高娃 查富生 宋宝玉 李满天 

机构地区：[1]State Key Laboratory of Robotics and System, Harbin Institute of Technology [2]Department of Mechanical Design, Harbin Institute of Technology

出　　处：《Chinese Physics B》2014年第1期159-169,共11页中国物理B（英文版）

基　　金：Project supported by the National Natural Science Foundation of China(Grant Nos.60901074,51075092,61005076,and 61175107);the National High Technology Research and Development Program of China(Grant No.2007AA042105);the Natural Science Foundation of Heilongjiang Province,China(Grant No.E200903)

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 perfi^rmance. 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.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 perfi^rmance. 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.

关 键 词：fast filtering vibration system neural information exchange micro motion robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]