CN107817038A - A kind of railway vehicle wheel passes through formula intellectualized detection device and method again - Google Patents
A kind of railway vehicle wheel passes through formula intellectualized detection device and method again Download PDFInfo
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- CN107817038A CN107817038A CN201711003865.3A CN201711003865A CN107817038A CN 107817038 A CN107817038 A CN 107817038A CN 201711003865 A CN201711003865 A CN 201711003865A CN 107817038 A CN107817038 A CN 107817038A
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- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000005303 weighing Methods 0.000 claims abstract description 58
- 238000001914 filtration Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 10
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- 238000012937 correction Methods 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000005284 excitation Effects 0.000 claims description 3
- 230000005654 stationary process Effects 0.000 claims description 3
- 230000001052 transient effect Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
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- 238000009434 installation Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000002474 experimental method Methods 0.000 description 7
- 238000011068 loading method Methods 0.000 description 6
- 238000012360 testing method Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241001504664 Crossocheilus latius Species 0.000 description 1
- 241000271559 Dromaiidae Species 0.000 description 1
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- 230000003137 locomotive effect Effects 0.000 description 1
- 210000004218 nerve net Anatomy 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
- G01G19/04—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing railway vehicles
- G01G19/045—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing railway vehicles for weighing railway vehicles in motion
- G01G19/047—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing railway vehicles for weighing railway vehicles in motion using electrical weight-sensitive devices
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Abstract
The invention discloses a kind of railway vehicle wheel to pass through formula intellectualized detection device and method again,Weighed by the guiding lifting wheel rim of weighing unit arc top surface,So that light structure,It is easy for installation,Using flexible,And pass through the Uplifting amount of different cushion block combination adjustment wheel rims,So as to meet rail and wheel to requirement when wearing away be present,Ensure wheel rim Uplifting amount in safe range simultaneously,The dynamic characteristic of vehicle wheel weight is taken into full account,Enter the processing of road wheel weight Dynamic Signal using two level adaptive-filtering,It is small to take turns re-detection resultant error,Good stability,To ensure that train takes turns the real-time and accuracy by condition lower whorl re-detection more,Devise the pattern of single-chip microcomputer and PC two level computing,Reasonable distribution computing resource,Effectively improve wheel weight Dynamic Data Processing speed,Device for mechanical structure design is modeled using three-dimensional digital software and finite element analysis in design,It ensure that intensity and reliability of structure etc..
Description
Technical field
The present invention relates to a kind of railway vehicle wheel to pass through formula intellectualized detection device and method again.
Background technology
As railway transportation is to high speed, heavy loading development, ensure that transportation safety has higher requirement.Railway goods are transported
Existing overload, unbalance loading, weighting can trigger great harm during defeated.Rail vehicle is under overload condition usually for a long time
Cause the failures such as chassis is recessed, hook High variation causes to break off relations.It is not only tight to infringements such as truck vehicle, locomotive, track, track switches
Weight, also easily cause vehicle to cut axle, combustion axle and vehicle and the major accident such as overturn, very big threat is caused to safety of railway traffic.
It is passenger-cargo co that, which still there is 2/3 rail track in China, so far, and complex line rate is not high.Once accident occur not only results in car
Damage, even result in line outage and casualties, it is seen that the whether safe of cargo transport equally affects passenger transport
Safety.
At present, in railway systems, wide variety of equipment includes the equipment such as track scale, Super leaning load instrument and wheel weighing instrument.Rail
The in-site installation requirement of road weighing apparatus is more harsh, and transformation of the installation process to track circuit is larger.Rail freight Super leaning load detects
Device can measure unbalance loading and the weighting of vehicle simultaneously, but its measurement accuracy is relatively low, and cost is high.Wheel weighing instrument is in actual applications
Much limited, operating personnel need the operation for being jacked, being fallen one by one to wheel, very cumbersome.Therefore study a
Portable, multi-functional, cheap wheel re-detection equipment is significant.
The content of the invention
In order to solve current railway systems when entering road wheel re-detection to vehicle it is cumbersome, measurement apparatus precision is low, makes
The high technical problem of valency, present invention offer is a kind of can to realize the rail for quick and precisely entering road wheel re-detection on the premise of low cost
Road vehicle wheel passes through formula intellectualized detection device and method again.
In order to realize above-mentioned technical purpose, the technical scheme is that,
A kind of railway vehicle wheel is again by formula intellectualized detection device, including weighing unit, data acquisition unit and upper
Machine, described weighing unit communicate to connect host computer by data acquisition unit, and weighing unit includes the bulk provided with groove profile hole
Weighing piece, fixture and pressure sensor, described pressure sensor is arranged in the groove profile hole of weighing piece, and weighing piece passes through
Fixture is arranged at the inner side of train rail rail, and make the wheel rim of train wheel by when contact weighing piece upper surface and
The tread of train wheel is hanging, pressure sensor gather wheel rim by when pressure and pressure signal is sent to host computer.
A kind of described railway vehicle wheel passes through formula intellectualized detection device, the both ends of the upper top surface of described weighing piece again
For cambered surface.
A kind of described railway vehicle wheel includes support block and U by formula intellectualized detection device, described fixture again
Type fixture, described support block is L-type and the inner shape of outer shape and rail matches and is arranged on the inside of rail, described
Inside bottom surface width and the rail foot width of U-shaped folder tool match and be arranged at rail foot, the inner side of support block with it is U-shaped
Wherein one side side wall on the inside of fixture forms the space for accommodating weighing piece.
Again by formula intellectualized detection device, described fixture also includes heightening pad a kind of described railway vehicle wheel
Block, described height adjusting cushion block include at least a piece of pad, described pad be arranged at the bottom of weighing piece and in weighing piece with
Between support block.
A kind of described railway vehicle wheel includes modulus by formula intellectualized detection device, described data acquisition unit again
Modular converter, control module, communication module and power module, described analog-to-digital conversion module and communication module are respectively with controlling mould
Block communicates to connect, and described power module is other module for power supply.
A kind of described railway vehicle wheel includes A/D by formula intellectualized detection device, described analog-to-digital conversion module again
Change-over circuit, described control module include single-chip microcomputer and communicate to connect the keyboard operation module of single-chip microcomputer, described communication mould
Block includes usb communication circuit and RS232 telecommunication circuits, and described power module includes battery and is electrically connected to battery output
The mu balanced circuit of mouth, the input connection pressure sensor of described A/D change-over circuits, output end are connected to single-chip microcomputer, monolithic
The output end of machine is respectively connecting to usb communication circuit and RS232 telecommunication circuits, and mu balanced circuit is respectively electrically connected to A/D conversion electricity
Road and single-chip microcomputer are to provide driving power.
A kind of railway vehicle wheel by formula intellectualized detection method, using described device, comprises the following steps again：
The Analysis of Vibration Characteristic of weighing unit, comprises the following steps：
The stress of weighing unit is mainly the step force f of train deadweight1And train undamped free oscillation power f (t)2(t),
Both expression formulas are respectively as follows
Train deadweight step force f1(t)：
In formula：W conducts oneself with dignity for train；
Train undamped free oscillation power f2(t)：
In formula：AtFor oscillating force amplitude, ωntTrain vibration intrinsic frequency；
The vibration characteristics of weighing sensor is equivalent to the second-order system of a single-degree-of-freedom, if x is the upper and lower of sensor
Displacement, m, c, k are respectively sensor equivalent mass, equivalent damping and equivalent elastic coefficient, there is vibration equation：
In formula：ωnsFor the intrinsic frequency of weighing sensor,Above-mentioned equation is solved, is obtained：
In formula：
Therefore the input signal of weighing sensor includes：Weight stationary signal, the low frequency self-vibration interference component of vehicle and the external world
Interference component, the process are divided into transient process and stationary process；
Based on the weight dynamic signal data processing of two level adaptation wheels of glide filter and adaptive Kalman filter：
(1) data acquisition unit carries out glide filter, and for the vehicle wheel weight Dynamic Signal collected, it is N's to take length
Sequence, the output of the sequence is replaced with the average value of sequence, filter result is reached into host computer；
(2) host computer carries out adaptive Kalman filter, first by the posterior estimate x of wheel weight signal last moment
(k-1) state at current time is calculated, its renewal equation is：xk=Axk-1+Buk-1, xk=Mxk-1+Nuk-1Wherein A (M) is shape
State transfer matrix, ukFor controlled quentity controlled variable, B (N) is control input matrix；
(3) the Posterior estimator covariance at k moment is calculated：pk=Mpk-1MT+ Q, Q represent excitation noise covariance；Wherein pkIt is
The Posterior estimator covariance at k moment, T representing matrix M transposition；
(4) estimate is corrected using the measured value at current time, calculates filtering gain battle array first
Wherein H is measurement matrix, and R is measurement noise covariance；
(5) the state updated value at k moment is obtained：Posterior estimator covariance is more
New valueWherein zkFor the input of filtering；
(6) will obtain in step (5)Step (3) is brought into as error correction,Final output as filtering.
The technical effects of the invention are that the present invention is claimed by the guiding lifting wheel rim of weighing unit arc top surface
Weight, so that light structure, easy for installation, using flexible, and the Uplifting amount for adjusting wheel rim is combined by different cushion blocks, from
And meet rail and wheel to requirement when wearing away be present, while wheel rim Uplifting amount is ensured in safe range, take into full account
The dynamic characteristic of vehicle wheel weight, the processing of road wheel weight Dynamic Signal is entered using two level adaptive-filtering, and wheel re-detection result is missed
Poor small, good stability, to ensure that train takes turns the real-time and accuracy by condition lower whorl re-detection more, devise single-chip microcomputer and
The pattern of PC two level computing, reasonable distribution computing resource, wheel weight Dynamic Data Processing speed is effectively improved, is used in design
Device for mechanical structure design is modeled three-dimensional digital software and finite element analysis, it is ensured that the intensity and reliability of structure
Deng.Market application foreground of the present invention is wide, can be generalized to national each station on a large scale.Picked up from source, make entrucking synchronous with detection
Carry out, solve the problems, such as overloading wagon, unbalance loading from source, can be not only used for the wheel re-detection under the conditions of loading goods train,
Wheel rebalancing method detection after the completion of producing and overhaul available for EMUs, it is using flexible, easy for installation, can further realize with
Rolling stock identifying system and Traffic network database interconnection, rail vehicle Super leaning load detection improvement system is formed, realizes railway freight
Perfect information system management.
The invention will be further described below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of apparatus of the present invention；
Fig. 2 is the scheme of installation of weighing unit of the present invention；
Fig. 3 is the structural representation of weighing piece of the present invention；
Fig. 4 is the rim stress cloud atlas for carrying out finite element analysis to wheel rim by ANSYS softwares；
Fig. 5 is that the wheel rim for carrying out finite element analysis to wheel rim by ANSYS softwares strains cloud atlas；
Fig. 6 is the waveform diagram of dynamic weighing signal；
Fig. 7 is original wheel weight Dynamic Signal schematic diagram；
Fig. 8 is glide filter result schematic diagram；
Fig. 9 is adaptive Kalman filter result schematic diagram；
Figure 10 is the estimation error schematic diagram of Posterior estimator；
Figure 11 is device reliability confirmatory experiment error scatter diagram；
Figure 12 is the surface chart for the software developed using the present invention program；
Wherein 1 is train wheel, 2 is rail, 3 is weighing piece, 4 is support block, 5 is U-shaped folder tool, 6 is height adjusting cushion block, 7
It is pressure sensor for groove profile hole, 8,9 is cambered surface.
Embodiment
The present embodiment by the arcuate guide surface of weighing unit by the certain height of wheel rim lifting, so as to obtain the wheel of vehicle
Weight information.Strain-type pressure and weighting transducers produce voltage change, through high-speed a/d module by four road weighing sensor voltage signals
It is converted into data signal and is sent to ARM single-chip microcomputers, single-chip microcomputer main control chip is filtered by Data Integration, tentatively, then by number
According to being sent to computer.Computer end carries out analysis calculating to gathered data, obtains final vehicle and respectively takes turns weight information, enters road wheel and believe again
Breath visualization display.Meanwhile can be with printer operation by testing result real time print.
Railway vehicle wheel is again by formula intellectualized detection device overall plan as shown in figure 1, mono- using STM32F407ZGT6
For piece machine as main control chip, LCS-D8T high accuracy cantilever beam sensor obtains wheel weight Dynamic Signal.Turned by high resolution A/D
The data collected are sent to main control chip, external connection LCD display, embedded printer and miniature calculating by mold changing block
Machine realizes wheel re-detection and the output of Super leaning load judged result.
Weighing unit directly contacts with wheel rim, is made up of cantilever beam sensor and the access bridge with arcuate guide surface,
It is mainly used in obtaining wheel weight Dynamic Signal.The operation principle of vice is used for reference, devises the U-typed clamping dress with trip bolt
Put, coordinate weighing sensor support block, height adjusting cushion block to collectively constitute weighing sensor fixing device as shown in Figure 2.Pass through
Wheel rim is raised into 1-6mm, wheel tread is departed from rail, it is defeated so as to which vehicle wheel to be converted into the deformation of weighing sensor again
Go out weight signal.Weighing sensor fixing device needs weighing unit being firmly secured on rail, and fixing device has one
Fixed adaptability, the installation requirement of different size rail can be met.
Weighing piece is main load part, structure as shown in figure 3, its directly with taking turns to contacting, by by Railway wheelset
Wheel rim raise 1-6mm, so as to by take turns pair weight reaction for sensor deformation, be transmitted to A/D modular converters.Due to by steel
The limitation in rail space, sensor assembly need have long and narrow profile, and the seeker combined with circular arc and inclined-plane, convenient
Reduce the enormous impact that Railway wheelset rushes to weighing platform, improve the Stability and veracity of data acquisition.
In order to probe into the science and feasibility of wheel rim load mode, finite element fraction is carried out to wheel rim by ANSYS softwares
Analysis, the Stress Map of wheel rim and strain cloud atlas are respectively such as Fig. 4, shown in Fig. 5.In the case where wheel weight is 12.5 tons, suffered by wheel rim
Stress is 518MPa, and the maximum tensile strength far below stone roller steel wheel is 910MPa.Therefore road wheel is entered by the way of wheel rim load
Re-detection will not be to taking turns to causing to damage.
The stress of weighing unit is mainly the step force f of train deadweight1And train undamped free oscillation power f (t)2(t),
Both expression formulas are respectively as follows
Train deadweight step force f1(t)：
In formula：W conducts oneself with dignity for train；
Train undamped free oscillation power f2(t)：
In formula：AtFor oscillating force amplitude, ωntTrain vibration intrinsic frequency；
The vibration characteristics of weighing sensor is equivalent to the second-order system of a single-degree-of-freedom, if x is the upper and lower of sensor
Displacement, m, c, k are respectively sensor equivalent mass, equivalent damping and equivalent elastic coefficient, there is vibration equation：
In formula：ωnsFor the intrinsic frequency of weighing sensor,Above-mentioned equation is solved, is obtained：
In formula：
Being calculated by above-mentioned analysis to obtain, and the input signal of weighing sensor includes：The low frequency of weight stationary signal, vehicle
Self-vibration interference component and external interference composition, the process can be divided into transient process and stationary process.Fig. 6 is that an experiment obtains
Dynamic weighing signal waveform, it can be seen that after vehicle contact is to weighing instrument, an impact of appearing on the stage will be produced and shaken
It is dynamic, and gradually show relaxation phenomenon.
In view of the disposal ability that single-chip microcomputer is limited, the ADAMS software modeling methods used at present[6]With utilizing nerve net
The wheel weight weighing algorithm of network etc.[7]It can not be applicable in this works.Pass through condition lower whorl re-detection in order to which train is effectively ensured and takes turns more
Real-time and accuracy, reasonable distribution computing resource, devise the two level based on glide filter and adaptive Kalman filter
Adaptive wheel weight dynamic signal data Processing Algorithm.Algorithm key step is as follows：
(1) main control chip carries out glide filter.For the vehicle wheel weight Dynamic Signal collected, the sequence that length is N is taken,
The output of the sequence is replaced with the average value of sequence, filter result is reached into PC ends.
(2) PC ends carry out adaptive Kalman filter.First by the posterior estimate x (k- of wheel weight signal last moment
1) state at current time is calculated, its renewal equation is：xk=Axk-1+Buk-1, xk=Mxk-1+Nuk-1Wherein A (M) is state
Transfer matrix, ukFor controlled quentity controlled variable, B (N) is control input matrix.
(3) the Posterior estimator covariance at k moment is calculated：pk=Mpk-1MT+Q.Q represents excitation noise covariance.
(4) estimate is corrected using the measured value at current time, calculates filtering gain battle array first
Wherein H is measurement matrix, and R is measurement noise covariance.
(5) the state updated value at k moment is obtained：Posterior estimator covariance is more
New valueWherein zkFor the input of filtering.
(6) will obtain in step (5)Step (3) is brought into as error correction,Final output as filtering.
Using above-mentioned algorithm, the requirement of wheel weight real time signal processing is reached.It is 1.5m/s that Fig. 7, which show speed of experiment,
The original wheel weight Dynamic Signal collected during wheel weight 7000g.Fig. 8 show the result of moving average filter, it is seen that one-level filters
So that signal is more smooth, invalid data amount is reduced.Fig. 9 show adaptive Kalman filter result, and secondary filter makes result
Nearly close to actual value, Figure 10 for filtering Posterior estimator error.
In order to verify the reliability of device testing result, it is 1m/ to take turns holding bogie speed on weight experiment porch in dynamic
S, under conditions of gross weight is 40.393Kg, 60 next round re-detections experiment is carried out, has recorded each result of the test and the mistake of actual value
Poor percentage, device reliability confirmatory experiment error statistics result are as shown in figure 11.From error statistics result, 60 experiments
Error information illustrates that system has higher reliability within ± 3%.
As a full-order system, the strong data visualization platform of interactivity is be unable to do without.As shown in figure 12, train passes through
Stronger feature is presented in the numerical value of weighing sensor：Signal sharp rises to a maximum point by zero, corresponded to loads from
It is complete to reflect loads to this process completely into sensor from last maximum point vanishing for feeler
Leave the process of sensor.Using the solution of the present invention, software interactive platform is developed using WPF at PC ends, complete record
This process.And by numerical value such as the train wheel weight of calculating, axle weight, unbalance loadings, intuitively it is illustrated in interface.In operation case portion
Point, each parameter of train that display screen displaying is calculated, and exported data-printing by printer module.
Claims (7)
1. a kind of railway vehicle wheel passes through formula intellectualized detection device again, it is characterised in that including weighing unit, data acquisition list
Member and host computer, described weighing unit communicate to connect host computer by data acquisition unit, and weighing unit includes being provided with groove profile
Block weighing piece, fixture and the pressure sensor in hole, described pressure sensor are arranged in the groove profile hole of weighing piece, are claimed
Heavy mail is arranged at the inner side of train rail rail by fixture, and make the wheel rim of train wheel by when contact weighing piece
The tread of upper surface and train wheel is hanging, pressure sensor gather wheel rim by when pressure and pressure signal is sent to
Position machine.
2. a kind of railway vehicle wheel according to claim 1 passes through formula intellectualized detection device again, it is characterised in that described
The both ends of upper top surface of weighing piece be cambered surface.
3. a kind of railway vehicle wheel according to claim 1 passes through formula intellectualized detection device again, it is characterised in that described
Fixture include support block and U-shaped folder and have, described support block is L-type and the inner shape of outer shape and rail matches
And be arranged on the inside of rail, the inside bottom surface width of described U-shaped folder tool matches with rail foot width and is arranged at rail
Bottom, the inner side of support block and wherein one side side wall of U-shaped folder tool inner side form the space for accommodating weighing piece.
4. a kind of railway vehicle wheel according to claim 2 passes through formula intellectualized detection device again, it is characterised in that described
Fixture also include height adjusting cushion block, described height adjusting cushion block includes at least a piece of pad, and described pad is arranged at weighing piece
Bottom and between weighing piece and support block.
5. a kind of railway vehicle wheel according to claim 1 passes through formula intellectualized detection device again, it is characterised in that described
Data acquisition unit include analog-to-digital conversion module, control module, communication module and power module, described analog-to-digital conversion module
Communicated to connect respectively with control module with communication module, described power module is other module for power supply.
6. a kind of railway vehicle wheel according to claim 4 passes through formula intellectualized detection device again, it is characterised in that described
Analog-to-digital conversion module include A/D change-over circuits, described control module includes single-chip microcomputer and communicates to connect the keyboard of single-chip microcomputer
Operation module, described communication module include usb communication circuit and RS232 telecommunication circuits, and described power module includes electric power storage
Pond and the mu balanced circuit for being electrically connected to battery delivery outlet, the input connection pressure sensor of described A/D change-over circuits are defeated
Go out end and be connected to single-chip microcomputer, the output end of single-chip microcomputer is respectively connecting to usb communication circuit and RS232 telecommunication circuits, mu balanced circuit
A/D change-over circuits and single-chip microcomputer are respectively electrically connected to provide driving power.
7. a kind of railway vehicle wheel passes through formula intellectualized detection method again, it is characterised in that using such as any institutes of claim 1-6
The device stated, comprises the following steps：
The Analysis of Vibration Characteristic of weighing unit, comprises the following steps：
The stress of weighing unit is mainly the step force f of train deadweight1And train undamped free oscillation power f (t)2(t), both
Expression formula it is respectively as follows
Train deadweight step force f1(t)：
In formula：W conducts oneself with dignity for train；
Train undamped free oscillation power f2(t)：
In formula：AtFor oscillating force amplitude, ωntTrain vibration intrinsic frequency；
The vibration characteristics of weighing sensor is equivalent to the second-order system of a single-degree-of-freedom, if x is the upper and lower displacement of sensor
Amount, m, c, k are respectively sensor equivalent mass, equivalent damping and equivalent elastic coefficient, there is vibration equation：
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<mfrac>
<mi>W</mi>
<mi>k</mi>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
In formula：
Therefore the input signal of weighing sensor includes：Weight stationary signal, the low frequency self-vibration interference component of vehicle and external interference
Composition, the process are divided into transient process and stationary process；
Based on the weight dynamic signal data processing of two level adaptation wheels of glide filter and adaptive Kalman filter：
(1) data acquisition unit carries out glide filter, for the vehicle wheel weight Dynamic Signal collected, takes the sequence that length is N,
The output of the sequence is replaced with the average value of sequence, filter result is reached into host computer；
(2) host computer carries out adaptive Kalman filter, first by the posterior estimate x (k-1) of wheel weight signal last moment
To calculate the state at current time, its renewal equation is：xk=Axk-1+Buk-1, xk=Mxk-1+Nuk-1Wherein A (M) turns for state
Move matrix, ukFor controlled quentity controlled variable, B (N) is control input matrix；
(3) the Posterior estimator covariance at k moment is calculated：pk=Mpk-1MT+ Q, Q represent excitation noise covariance；Wherein pkWhen being k
The Posterior estimator covariance at quarter, T representing matrix M transposition；
(4) estimate is corrected using the measured value at current time, calculates filtering gain battle array firstWherein H
For measurement matrix, R is measurement noise covariance；
(5) the state updated value at k moment is obtained：The updated value of Posterior estimator covarianceWherein zkFor the input of filtering；
(6) will obtain in step (5)Step (3) is brought into as error correction,Final output as filtering.
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| CN111964768A (en) * | 2020-08-05 | 2020-11-20 | 青岛英泰软件技术有限公司 | Filtering method for increasing anti-interference effect of electronic scale |
| CN112345053A (en) * | 2020-11-18 | 2021-02-09 | 台誉传感科技(杭州)有限公司 | Portable rail balance and device |
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