CN106097264B - Based on dual-tree complex wavelet and morphologic satellite telemetering data filtering method - Google Patents
Based on dual-tree complex wavelet and morphologic satellite telemetering data filtering method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000001914 filtration Methods 0.000 title claims abstract description 42
- 230000000877 morphologic effect Effects 0.000 title claims abstract description 27
- 230000000717 retained effect Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 8
- 230000003628 erosive effect Effects 0.000 claims description 8
- 238000000354 decomposition reaction Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000010339 dilation Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 6
- 230000035772 mutation Effects 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 5
- 230000007423 decrease Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
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Abstract
The technical issues of the invention discloses one kind to be based on dual-tree complex wavelet and morphologic satellite telemetering data filtering method, and the practicability is poor for solving existing satellite telemetering data filtering method.Technical solution is to decompose first with dual-tree complex wavelet to the original telemetry of satellite, is filtered using a kind of semi-soft threshold filter function to initial telemetry, is effectively filtered out to the noise in data；Secondly primary data is filtered using complex morphological filtering method, wherein abnormal data is retained simultaneously to data filtering；It finally seeks the difference of two kinds of filter results and two kinds of filter results is integrated by given threshold, obtain final filter result.The experimental results showed that the method for the present invention can effectively filter out the noise in telemetry and retain abnormal data, it is practical.
Description
Technical field
The present invention relates to a kind of satellite telemetering data filtering methods, in particular to a kind of to be based on dual-tree complex wavelet and morphology
Satellite telemetering data filtering method.
Background technique
Document 1 " the dual-tree complex wavelet electro-ocular signal denoising method based on improvement threshold value, observation and control technology, 2015, Vol34
(8), p16-p18 " discloses a kind of new threshold filter method based on dual-tree complex wavelet, and the method improve uniform thresholds excessively to grip
The problem of killing wavelet coefficient can inhibit noise preferable stick signal details simultaneously, and document the method is to electro-ocular signal
There are better effects, method application signal is limited, and when there is significantly anomalous variation in signal, calculated threshold value is to whole in signal
The decline of bulk noise filtration result.
Document 2 " the electrocardiosignal removal baseline drift method based on shape filtering, Acta Physica Sinica, 2014, Vol63 (9),
P098701-1~p098701-6 " discloses a kind of ECG's data compression method based on two-stage morphological filter.This method fortune
With morphology theory combination electrocardiosignal feature, proposes based on morphologic ECG baseline drift minimizing technology, pass through
Signal is opened and closed using the structural element of different shape and size, make and break cascading operation, by verifying this method energy
It is enough that electrocardiosignal feature is preferably kept, Signal-to-Noise is improved, reduces mean square deviation and eliminates making an uproar for baseline drift
Sound.Document the method has better effects by experiment setting, to electrocardiosignal, but uses two-stage shape for other types signal
State filtering method will cause mutation amplitude characteristic in initial data and be decayed, unfavorable to abnormality detection.
Summary of the invention
In order to overcome the shortcomings of existing satellite telemetering data filtering method, the practicability is poor, and the present invention provides a kind of based on double trees
Phase information and morphologic satellite telemetering data filtering method.This method is first with dual-tree complex wavelet to the original telemetering number of satellite
According to being decomposed, initial telemetry is filtered using a kind of semi-soft threshold filter function, the noise in data is carried out
It effectively filters out；Secondly primary data is filtered using complex morphological filtering method, data filtering is retained simultaneously wherein different
Regular data；It finally seeks the difference of two kinds of filter results and two kinds of filter results is integrated by given threshold, obtain most
Whole filter result.The experimental results showed that the method for the present invention can effectively filter out the noise in telemetry and to abnormal number
It is practical according to being retained.
The technical solution adopted by the present invention to solve the technical problems: one kind being based on dual-tree complex wavelet and morphologic satellite
Telemetry filtering method, its main feature is that the following steps are included:
Step 1: the original telemetry X of the satellite of N a length of when collecting is decomposed into M layers using dual-tree complex wavelet, obtain
The individual-layer data x of different frequency bandsj,i(i=1,2 ..., N；J=1,2 ..., M), using semisoft shrinkage function Tj(xj,i,αj) logarithm
According to being filtered, specific formula is as follows:
In formula, xjFor input value, j is dual-tree complex wavelet decomposition scale, and sign is to take sign function, αjIt is adjusted for threshold value and is
Number, bigger closer the hard -threshold filtering of value are suitble to handle noise data, it is on the contrary then closer to soft-threshold de-noising, to critical zone
Wavelet coefficient retained, keep the singular data in legacy data, therefore the size of penalty coefficient and decomposition scale intermediate frequency
Rate is inversely proportional.thjFor adaptive thresholding value function, its calculation formula is:
In formula, σjFor j layers of xjVariance, N are data length.It brings formula (2) into formula (1) and obtains semi-soft threshold filter public affairs
Formula are as follows:
Filtered data are reconstructed to obtain dual-tree complex wavelet semi-soft threshold filter result XDi(i=1,2 ..., N).
Step 2: being filtered using morphological method to initial telemetry X, steps are as follows:
1. the data shape selection structural element kept as needed, and determine structural element parameter, selected structural elements
Element should be reference in the form of primary data, and parameter selection is inversely proportional with sample frequency, or selects to tie according to final filter effect
Constitutive element；
2. determining Morphological Filtering Algorithm, shape filtering rudimentary algorithm includes erosion operation and dilation operation, and specific formula is such as
Under:
Erosion operation Θ formula are as follows:
In formula, X is input data, xiFor data value, B is structural element, sliding on input data X using structural element B
It is dynamic, to the data value x of each positioniOperation is carried out, there are three types of results by structural element B:
B and X maximal correlation；
B is unrelated with X；
B [x] ∩ X and B [x] ∩ XcIt is not sky, B is related to X section.
Dilation operation is the inverse operation of erosion operation, therefore dilation operationFormula are as follows:
Algorithmic procedure and acquirement result are identical as erosion operation.
Retain mutation data characteristics while in order to filter to satellite telemetering data, on the basis of basal morphological budget
On, data are handled using open-close complex morphological filtering algorithm, specific formula are as follows:
OC (X)=(X ο B) B (6)
Original telemetry is filtered and is adopted, is obtained based on complex morphological filter result XSi(i=1,2 ..., N).
Step 3: seeking two kinds of filter result XDiWith XSiDifference ei(i=1,2 ... N), by setting difference detection threshold
Value theTo eiIt is detected, by eiIn be less than threshold value theData use dual-tree complex wavelet filter result XDi, by eiGreater than detection
Threshold value theData bit use shape filtering result XSi, obtained filter result is integrated to obtain final filtering dataSpecific formula are as follows:
Threshold value theAccording to eiMean square deviation is set.
The beneficial effects of the present invention are: the method for the present invention carries out the original telemetry of satellite first with dual-tree complex wavelet
It decomposes, initial telemetry is filtered using a kind of semi-soft threshold filter function, the noise in data is effectively filtered
It removes；Secondly primary data is filtered using complex morphological filtering method, wherein abnormal data is retained simultaneously to data filtering；
It finally seeks the difference of two kinds of filter results and two kinds of filter results is integrated by given threshold, obtain finally filtering knot
Fruit.The experimental results showed that the method for the present invention can effectively filter out the noise in telemetry and be protected to abnormal data
It stays, it is practical.
It elaborates with reference to the accompanying drawings and detailed description to the present invention.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of dual-tree complex wavelet and morphologic satellite telemetering data filtering method.
Fig. 2 is the initial telemetry of satellite.
Fig. 3 is using dual-tree complex wavelet to satellite telemetering data decomposition result.
Fig. 4 is semi-soft threshold filter result.
Fig. 5 is using OC shape filtering result.
Fig. 6 is filter result of the present invention.
Fig. 7 is " db4 " small echo penalty threshold filter result.
Specific embodiment
Referring to Fig.1-7.The present invention is based on dual-tree complex wavelets and morphologic satellite telemetering data filtering method specific steps
It is as follows:
1, using even numbers Phase information data are decomposed and using being reconstructed after semi-soft threshold filter.
Satellite telemetry primary data is simulated using following formula:
X=0.08*t+10*sin* (π t/15)+noise (1)
Time t/length is the random number that 1000, noise is (- 1,1) section in formula, and 5 amplitude mutations are added in data
Point.
4 layers are decomposed into the length N initial data X for being 1000 using dual-tree complex wavelet, obtains decomposition data xi,j(i=1,
2,…,1000；J=1,2,3,4,5).By data, the variances sigma of each group of data after decomposing is calculatedj, calculate the adaptive of each layer data
Answer threshold function table thj, calculation formula are as follows:
Obtain semi-soft threshold filter function TjAre as follows:
α in formulajFor each layer threshold value adjustment factor, since the frequency ranges of data that even numbers Phase information decomposes gradually decreases, because
This penalty coefficient value is inversely proportional with Decomposition order.
Initial telemetry is filtered using semi-soft threshold filter function, then filtered data is reconstructed,
Obtain filter result XDi。
2, initial telemetry X is filtered using complex morphological method.
Since initial telemetry main body is sinusoidal pattern, sinusoidal structured element is used, primary data differential, root are calculated
Determine that data structure element is 2 according to differential value.
Initial telemetry X is filtered using open-close shape filtering method, calculation formula are as follows:
OC (X)=(X ο B) B (4)
Structural element B is sinusoidal structured in formula, and opening operation ο is calculated and closed operation calculation formula are as follows:
Satellite primary data is filtered using complex morphological, obtaining filter result is XSi。
3, two kinds of filter results are integrated using difference detection threshold value.
Calculate two kinds of filter result difference esi, according to actual needs see also eiMean set difference detection threshold value the,
This example sets theIt is 0.9.
ei=| XDi-XSi| (i=1,2 ..., 1000) (7)
Utilize threshold value theObtained difference is detected to obtain final filtering dataCalculation formula are as follows:
Work as difference eiLess than given threshold theWhen, using dual-tree complex wavelet filter result XDi, work as difference eiMore than or equal to setting
Determine threshold value theWhen, using complex morphological filter result XSi, the final filter result of satellite telemetering data is obtained by threshold test
For control methods validity, primary data is filtered to obtain using " db4 " small echo penalty threshold filter
Filter resultInvolved 4 kinds of filtering methods are compared using signal ratio (SNR) and mean square deviation (RMS), are shown in Table 1.
Present document relates to method filter results for table 1
By comparison, it was found that shape filtering result is optimal to primary data filter effect, the method for the present invention filter result index
Between dual-tree complex wavelet filtering method and morphologic filtering method result, but this method is effectively pressing down noise data
While processed, the mutation data in primary data being more than setting detection threshold value are effectively retained.In addition, comparison other methods
The filter result of mutation data, the Gibbs' effect generated when this method is to wavelet filtering are inhibited.
Claims (1)
1. one kind is based on dual-tree complex wavelet and morphologic satellite telemetering data filtering method, it is characterised in that including following step
It is rapid:
Step 1: the original telemetry X of the satellite of N a length of when collecting is decomposed into M layers using dual-tree complex wavelet, difference is obtained
The individual-layer data x of frequency bandj,i, wherein i=1,2 ..., N；J=1,2 ..., M；Using semisoft shrinkage function Tj(xj,i,αj) to data
It is filtered, specific formula is as follows:
In formula, xj,iFor input value, j is dual-tree complex wavelet decomposition scale, and sign is to take sign function, αjFor threshold value adjustment factor,
The bigger closer hard -threshold filtering of value, is suitble to processing noise data, it is on the contrary then closer to soft-threshold de-noising, to the small of critical zone
Wave system number is retained, and keeps the singular data in legacy data, therefore the size of adjustment factor is inversely proportional with Decomposition order；
thjFor adaptive thresholding value function, its calculation formula is:
In formula, σjFor j layers of xjVariance, N is data length；It brings formula (2) into formula (1) and obtains semi-soft threshold filter formula
Are as follows:
Filtered data are reconstructed to obtain dual-tree complex wavelet semi-soft threshold filter result XDi, wherein i=1,2 ..., N；
Step 2: being filtered using morphological method to original telemetry X, steps are as follows:
1. the data shape selection structural element kept as needed, and determine structural element parameter, selected structural element is answered
It is reference in the form of primary data, parameter selection is inversely proportional with sample frequency, or selects structural elements according to final filter effect
Element；
2. determining Morphological Filtering Algorithm, shape filtering rudimentary algorithm includes erosion operation and dilation operation, specific formula is as follows:
Erosion operation Θ formula are as follows:
In formula, X is input data, xiFor data value, B is structural element, is slided on input data X using structural element B, right
The data value x of each positioniOperation is carried out, there are three types of results by structural element B:
B and X maximal correlation；
B is unrelated with X；
B ∩ X and B ∩ XcIt is not sky, B is related to X section；
Dilation operation is the inverse operation of erosion operation, therefore dilation operationFormula are as follows:
Algorithmic procedure and acquirement result are identical as erosion operation；
Retain mutation data characteristics while in order to filter satellite telemetering data to adopt on the basis of basal morphological budget
Data are handled with open-close complex morphological filtering algorithm, specific formula are as follows:
Original telemetry is filtered, is obtained based on complex morphological filter result XSi, i=1,2 ..., N；
Step 3: seeking two kinds of filter result XDiWith XSiDifference ei, i=1,2 ... N, by setting difference detection threshold value the
To eiIt is detected, by eiIn be less than threshold value theData use dual-tree complex wavelet filter result XDi, by eiGreater than detection threshold value
theData use shape filtering result XSi, obtained filter result is integrated to obtain final filtering data Xi, specific public
Formula are as follows:
Threshold value theAccording to eiMean square deviation is set.
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