CN100555864C - A kind of digital filtering method that is applied to course angle - Google Patents

Abstract

The present invention is directed to the saltus step characteristic of course angle data at boundary, a kind of digital filtering method that is applied to course angle is proposed, use digital filtering method provided by the invention course angle is carried out digital filtering, use wave digital lowpass filter commonly used, the difference of the input data that filter is clapped in the discretization processing of process filter, the renewal of data, front and back and corresponding conversion, the current bat input of calculating, realize filtering, and with the filtering result be converted into expectation interval [0 °～360 °).Filtering method provided by the present invention can be used to have the filtering of closed-loop interval functional form, and its output result not only satisfies the characteristic of filtering High-frequency Interference, and the accuracy height of dateout.

Description

A kind of digital filtering method that is applied to course angle

Technical field

The present invention relates to a kind of digital filtering method that is applied to the vector angle, belong to the sensing data processing technology field.

Background technology

Because the existence of random disturbances, the curve that the resulting discrete data of sensor sample connects into is broken line shape, and is very rough, contains radio-frequency component.In order to reduce the influence of interference, make measurement value sensor approach actual value information more, need to reduce the influence of interference signal by certain calculation procedure.Digital filtering is exactly that a kind of active data is handled means.Compare with analog filtering, the advantage of digital filtering is and can carries out filtering to the signal of extremely low frequency, and a plurality of in addition parameters can be used identical filter, and hardware circuit significantly reduces.Weaken as low pass RC filter commonly used in the analogue system and to disturb, wave digital lowpass filter is the means of the most frequently used filtering High-frequency Interference.

Course angle has become sensor information amount necessary in the flight control system as the important flight parameter of aircraft.The course angle of aircraft is meant the angle between a certain datum line on the floor projection line of aircraft longitudinal axis and the horizontal plane, and stipulate that be the positive direction of course angle from the positive direction of datum line by the positive direction that clockwise direction rotates to position line, provided the course angle schematic diagram of aircraft among Fig. 1.The data area of course angle may be defined as [0 °～360 °), it should be noted that, different with the data area of general transducer, the data area of course angle is actually an end to end ring seal interval, border, the left and right sides is actually linking, promptly after 360 ° again since 0 ° of counting, course angle always [0 °～360 °) the zone in variation.Therefore, in flight course, course angle the situation of data in the boundary saltus step of 0 ° or 360 ° occur through regular meeting.At this moment, if directly adopt wave digital lowpass filter result's saltus step deviation then can occur exporting.If it is behind these filtered misdatas introducing control loops, totally unfavorable to flight safety.

Summary of the invention

The objective of the invention is at the saltus step characteristic of course angle data at boundary, a kind of digital filtering method that is applied to course angle is proposed, use digital filtering method provided by the invention course angle is carried out digital filtering, its output result not only satisfies the characteristic of filtering High-frequency Interference, and the accuracy height of dateout.

A kind of digital filtering method that is applied to course angle provided by the invention realizes by following steps:

Step 1, the discretization of filter is handled, and utilizes discretization method, can obtain the difference equation of digital filter.

Step 2, the renewal of data.

The input data of current bat filter are composed input data to the arsis filter, the dateout of current bat filter is composed dateout to the arsis filter, current sensor data is composed input data to current bat filter.

Step 3, the numerical value difference of the input data of bat filter before and after calculating.

Step 4 is judged according to the numerical value difference of data in the step 3 whether front and back bat course angle saltus step takes place, and numerical difference between is converted into actual angle difference.

If the absolute value of the input data difference of the filter that clap front and back, is then thought the data saltus step that boundary occurs greater than 180 degree, the numerical difference between of this moment the course angle data being clapped in front and back is converted into the actual variance between two angles.

It is poor that step 5, the front and back that obtain according to step 4 are clapped the actual angle of input data of filter, recomputates current bat input.

Step 6 realizes filtering.

According to the arsis input data and the arsis dateout that obtain in current bat input data that obtain in the step 5 and the step 2, bring difference equation y (k)=a into ₁Y (k-1)+a ₂[x (k)+x (k-1)] realizes filtering.

Step 7, conversion results to expectation interval [0 °～360 °).

The advantage of the digital filtering technique that the present invention proposes is:

(1) for the digital filtering of the transducer with end to end sealing data area, the filtering result is rationally effective;

(2) method provided by the invention is used wave digital lowpass filter commonly used, and principle is simple, and it is convenient to realize.

Description of drawings

Fig. 1 is a vector angular direction schematic diagram;

Fig. 2 is a kind of transfer function form schematic diagram of wave digital lowpass filter commonly used;

Fig. 3 a clap before and after being course angle when being positioned at the boundary homonymy actual variance and numerical difference between concern schematic diagram;

Fig. 3 b clap before and after being course angle when being positioned at the boundary both sides actual variance and numerical difference between concern schematic diagram;

Fig. 4 a is the former course angle input curve figure when using method provided by the invention and carrying out course angle filtering;

Fig. 4 b uses method provided by the invention to carry out course angle output curve diagram after the course angle filtering;

Fig. 4 c makes real the border difference curve before and after the course angle;

Fig. 5 a uses former course angle input curve partial enlarged drawing when the invention provides method and carrying out course angle filtering;

Fig. 5 b uses the partial enlarged drawing that the method that the invention provides is carried out course angle curve of output after the course angle filtering;

Fig. 5 c is the partial enlarged drawing that makes real the border difference curve before and after the course angle;

Fig. 6 a is the former course angle input curve before direct Applied Digital low pass filter carries out filtering;

Fig. 6 b is that direct Applied Digital low pass filter carries out course angle curve of output after the filtering;

Fig. 6 c is the different curve of umber of beats value difference before and after the course angle;

Fig. 7 a is the former course angle input curve partial enlarged drawing before direct Applied Digital low pass filter carries out filtering;

Fig. 7 b is that direct Applied Digital low pass filter carries out course angle curve of output partial enlarged drawing after the filtering;

Fig. 7 c is the different curve partial enlarged drawing of umber of beats value difference before and after the course angle.

Embodiment

Below in conjunction with accompanying drawing and instantiation concrete implementation step of the present invention is described further.

A kind of digital filtering method that is applied to course angle provided by the invention utilizes the numerical difference between of course angle front and back beat of data to judge whether to occur the saltus step of course angle data at 0 ° or 360 ° boundary, and front and back beat of data herein refers to beat of data and current beat of data respectively.If the front and back beat of data saltus step do not occur and then directly adopts wave digital lowpass filter to carry out filtering; If saltus step occurs, the numerical difference between of then front and back being clapped two course angles is converted into actual angle difference, carries out digital filtering again.Since numerical difference between when being converted into actual angle difference data interval variation has taken place, need at last with the filtering result be defined in expectation interval [0 °～360 °) in obtain final result.

The digital filtering method that is applied to course angle provided by the invention realizes according to following concrete step:

1. the discretization of filter is handled, and adopts discretization method, obtains the difference equation of digital filter.

As shown in Figure 2 be a kind of function passes form schematic diagram of wave digital lowpass filter commonly used, at course angle filtering situation, input data ψ characterizes from transducer and obtains course angle signal, dateout

Characterize filtered course angle signal, adopt the transfer function form of wave digital lowpass filter, then have:

$\frac{\widetilde{\mathrm{\ψ}}}{\mathrm{\ψ}}=\frac{\mathrm{\ω}}{s+\mathrm{\ω}}---\left(1\right)$

ω is a filter parameter in the formula.

Utilize discretization method, can obtain the difference equation of wave digital lowpass filter:

y(k)＝a ₁y(k-1)+a ₂[x(k)+x(k-1)] (2)

Wherein, the dateout of the current bat filter of y (k) expression, x (k) is the input data of current bat filter, the dateout of y (k-1) expression arsis filter, x (k-1) is expressed as the input data of arsis filter, a ₁, a ₂Be known filter parameter.

2. the renewal of data.

The input data x (k) of current bat filter is composed the input data x (k-1) that gives the arsis filter:

x(k-1)＝x(k)；

The dateout y (k) of current bat filter is composed the dateout y (k-1) that gives the arsis filter:

y(k-1)＝y(k)；

To work as course angle input data ψ that front sensor obtains and compose input data x (k) to current bat filter:

x(k)＝ψ；

3. clap the numerical value discrepancy delta x of the input data of filter before and after calculating:

Δx＝x(k)-x(k-1) (3)；

4. clap the numerical value discrepancy delta x that imports data according to the front and back in the step 3 and judge whether front and back bat course angle saltus step takes place, and numerical value discrepancy delta x is converted into actual angle difference

Since the data area of course angle be [0 °～360 °), therefore before and after the data area of numerical difference between of bat course angle be [360 °～360 °).According to sampling thheorem, in the selection in sampling period, be at least 2 times of signal change frequency, therefore the absolute value of input data (angle) difference of the filter of front and back bat should be greater than 180 °.If the absolute value of data difference Δ x must be the data saltus step of course angle at boundary greater than 180 °.

If saltus step does not take place the input data of the filter that clap front and back, the actual variance that clap between the course angle two front and back is exactly the numerical difference between that course angle is clapped in front and back, and shown in Fig. 3 a, the homonymy of the angle of two course angles in the boundary line clapped in front and back; If the data saltus step of the input data generation boundary of the filter that clap front and back, promptly the both sides that course angle is positioned at the boundary line are clapped in front and back, and the numerical difference between of actual variance between two course angles and front and back bat angle is also unequal, shown in Fig. 3 b.For example, last beat of data is 355 °, current beat of data is 5 °, and front and back are clapped angle and laid respectively at the both sides, boundary line, and the numerical difference between that course angle is clapped in front and back is (5 °-355 °=-350 °), and the actual variance of front and back bat course angle is 10 °, if carry out filtering then can produce wrong data exporting according to numerical difference between during filtering, therefore the numerical difference between of this moment need be converted into actual angle difference, be about to numerical difference between and add one 360 °, make finger identical, carry out filtering afterwards again with 10 ° of actual variances.

The numerical difference between Δ x that the course angle data are clapped in front and back is converted into the actual variance between two course angles

Can eliminate the influence of course angle angle saltus step, produce wrong dateout when avoiding filtering the filter input.Actual variance By obtaining as judging:

If Δ x＞180, then order $\mathrm{\Δ}\hat{x}=\mathrm{\Δx}-360;$

Otherwise, if Δ x＜-180, then order $\mathrm{\Δ}\hat{x}=\mathrm{\Δx}+360.$

Δ x is the situation that saltus step does not take place the course angle data when being other situation, does not need to carry out data conversion and handles.Filter is clapped the actual variance of course angle according to front and back

Carry out filtering output.

5. the input data actual angle difference of filter is clapped in the front and back that obtain according to step 4 Recomputate current bat input x (k):

$x\left(k\right)=x(k-1)+\mathrm{\Δ}\hat{x}---\left(4\right)$

6. realization filtering.

Import arsis input data x (k-1) and the arsis dateout y (k-1) that obtains in data x (k) and the step 2 with recomputating the current bat that obtains in the step 5, bring formula (1) into, obtain current bat output y (k):

y(k)＝a ₁y(k-1)+a ₂[x(k)+x(k-1)]

Conversion results to expectation interval [0 °～360 °).

Since to will occur after the data filtering of both sides, boundary line the course angle data exceed limited range [0 °～360 °) situation, the filtering result need be converted into expectation interval [0 °～360 °) in data.

As if y (k)＞360, then make the dateout of course angle signal $\widetilde{\mathrm{\ψ}}=y\left(k\right)-360;$

As if y (k)＜0, then make the dateout of course angle signal $\widetilde{\mathrm{\ψ}}=y\left(k\right)+360;$

For all the other situations of y (k), make the dateout of course angle signal $\widetilde{\mathrm{\ψ}}=y\left(k\right);$

For course angle through filtered dateout, its data area be [0 °～360 °).

Embodiment:

In this example, the sine wave signal ψ that employing passes across the border is as the input signal of course angle, and amplitude is 60 °, and the cycle is 50 seconds, utilizes digital filtering method provided by the present invention that input signal is carried out Filtering Processing.

${\mathrm{\ψ}}_1=360+300\sin \left(\frac{2\mathrm{\π}}{50}t\right),$

If ψ ₁＞360, ψ=ψ ₁-360,

If ψ ₁＜0, ψ=ψ ₁+ 360, all the other situations, ψ=ψ ₁

Carry out digital filtering by filtering method provided by the invention below.

1. the discretization of filter is handled, and adopts discretization method, obtains the difference equation of digital filter.

Adopt wave digital lowpass filter commonly used, choose ω=20, the sampling time adopts bilinear transformation that filter is carried out discretization when being 0.02s, obtains: a ₁=0.666667, a ₂=0.166667, then

y(k)＝a ₁y(k-1)+a ₂[x(k)+x(k-1)]＝0.666667y(k-1)+0.166667[x(k)+x(k-1)]

2. the renewal of data.

Make x (k-1)=x (k);

y(k-1)＝y(k)；

x(k)＝ψ；

3. clap the data difference Δ x of the input data of filter before and after calculating

Δx＝x(k)-x(k-1)；

4. clap course angle before and after judging according to data difference Δ x whether saltus step takes place, and carry out corresponding conversion.

If Δ x＞180, $\mathrm{\Δ}\hat{x}=\mathrm{\Δx}-360;$

Otherwise, if Δ x＜-180, $\mathrm{\Δ}\hat{x}=\mathrm{\Δx}+360;$

Δ x is not carry out transforming for other situation.

5. recomputate current bat input.

$x\left(k\right)=x(k-1)+\mathrm{\Δ}\hat{x};$

6. realization filtering.

y(k)＝0.666667y(k-1)+0.166667(x(k)+x(k-1))

Conversion results to expectation interval [0 °～360 °)

If y (k)＞360, $\widetilde{\mathrm{\ψ}}=y\left(k\right)-360;$

If y (k)＜0, $\widetilde{\mathrm{\ψ}}=y\left(k\right)+360;$

For all the other situations of y (k), $\widetilde{\mathrm{\ψ}}=y\left(k\right).$

Provide the data and curves figure that makes real border difference before and after course angle output after former course angle input when adopting filtering method provided by the invention to carry out course angle filtering, the filtering, the course angle among Fig. 4 a, 4b, the 4c, provided the partial enlarged drawing that makes real the border difference curve before and after course angle output after former course angle input when adopting this method to carry out course angle filtering, the filtering, the course angle among Fig. 5 a, 5b, the 5c.As can be seen from the figure, shown in Fig. 5 b circle sign, misdata does not appear in the result of process filtering, and the filtering result is rationally effective; The angle actual variance value transitions smooth of course angle before and after shown in Fig. 5 c circle sign.

The data and curves figure of course angle, course angle numerical difference between after former course angle when having provided the existing wave digital lowpass filter of direct employing among Fig. 6 a, 6b, the 6c and carrying out course angle filtering, the filtering, the partial enlarged drawing of course angle, course angle numerical difference between curve after the former course angle when having provided direct employing wave digital lowpass filter among Fig. 7 a, 7b, the 7c and carrying out course angle filtering, the filtering.Course angle output result does not embody the difference of saltus step after the filtering shown in the circle sign among Fig. 7 b at this moment, so wrong dateout occurred.By among Fig. 7 c shown in the arrow, the situation greater than 180 degree has appearred in the data difference of clapping before and after the course angle, and promptly the boundary saltus step has appearred in raw sensor information.

Claims (2)

1, a kind of digital filtering method that is applied to course angle is characterized in that comprising the steps:

Step 1, the discretization of filter is handled, and utilizes discretization method, can obtain the difference equation of digital filter;

Step 2, the renewal of data; The input data x (k) of current bat filter is composed the input data x (k-1) that gives the arsis filter, the dateout y (k) of current bat filter is composed the dateout y (k-1) that gives the arsis filter, and the course angle data ψ that will work as the front sensor acquisition composes the input data x (k) to current bat filter;

Step 3 is calculated the numerical value discrepancy delta x of the input data of current bat filter and arsis filter;

Step 4 is clapped course angle before and after judging according to the numerical value discrepancy delta x of data in the step 3 whether saltus step is taken place, if the absolute value of numerical value discrepancy delta x is the data saltus step of course angle at boundary, and numerical difference between Δ x is converted into actual angle difference greater than 180 °

Step 5, the actual angle difference of the input data of filter is clapped in the front and back that obtain according to step 4

Recomputate current bat input x (k):

$x\left(k\right)=x(k-1)+\mathrm{\Δ}\hat{x}$

Step 6 realizes filtering; According to the arsis input data x (k-1) and the arsis dateout y (k-1) that obtain in current bat input data x (k) that obtain in the step 5 and the step 2, bring difference equation into and obtain current bat output y (k): y (k)=a ₁Y (k-1)+a ₂[x (k)+x (k-1)] realizes filtering; A wherein ₁, a ₂Be known filter parameter;

Step 7, conversion results to expectation interval [0 °～360 °).

2, a kind of digital filtering method that is applied to course angle according to claim 1 is characterized in that the described course angle numerical difference between of step 4 Δ x is converted into actual angle difference

Method be:

If Δ x＞180, then order $\mathrm{\Δ}\hat{x}=\mathrm{\Δx}-360;$

Otherwise, if Δ x＜-180, then order $\mathrm{\Δ}\hat{x}=\mathrm{\Δx}+360;$

When Δ x is other situation, $\mathrm{\Δ}\hat{x}=\mathrm{\Δx}.$

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