WO2022183326A1

WO2022183326A1 - Filtering method and apparatus, movable platform, and storage medium

Info

Publication number: WO2022183326A1
Application number: PCT/CN2021/078489
Authority: WO
Inventors: 吕熙敏; 李翔; 商志猛
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-03-01
Filing date: 2021-03-01
Publication date: 2022-09-09

Abstract

Embodiments of the present invention provide a filtering method and apparatus, a movable platform, and a storage medium. The method comprises: acquiring a time-domain sensing signal affected by propeller vibration of an unmanned aerial vehicle, and a motor rotation frequency of the unmanned aerial vehicle; performing frequency-domain transformation on the time-domain sensing signal to obtain a correspondence between a sensing signal frequency and a sensing signal energy; on the basis of the correspondence between the sensing signal frequency and the sensing signal energy, determining the sensing signal energy corresponding to each of multiple frequency multiplications, the multiple frequency multiplications referring to sensing signal frequencies which are multiples of the motor rotation frequency; and according to a threshold of a filter corresponding to each of the multiple frequency multiplications, turning on a first filter corresponding to the frequency multiplication having the sensing signal energy greater than the corresponding threshold, and turning off a second filter corresponding to the frequency multiplication having the sensing signal energy less than the corresponding threshold. The filters designed by the present invention have relatively high rationality, and can better filter out interference signal energy generated by vibration excitation, thereby improving the control performance of a flight control system.

Description

Filtering method, apparatus, removable platform and storage medium

technical field

The present invention relates to the technical field of signal processing, and in particular, to a filtering method, device, movable platform and storage medium.

Background technique

When the UAV is hovering or flying forward, the rotating propeller will bring a series of vibration excitations. The vibration excitation interacts with the UAV's flight control system and causes additional interference problems when the UAV is flying. , so that these vibration excitations will eventually affect the control performance of the flight control system.

In order to solve the above problem, in the related art, a filter is used to filter out the energy of the interference signal generated by the vibration excitation. The rationality of the filter design will directly affect the filtering effect, which in turn will affect the control performance of the flight control system.

The rationality of the filter designed in the related art is poor, so it is urgent to design a filter with high rationality to filter out the energy of the interference signal generated by the vibration excitation, thereby improving the control performance of the flight control system.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a filtering method, a device, a movable platform and a storage medium, which are used to design a filter with high rationality to filter out the energy of interference signals generated by vibration excitation, thereby improving the control of the flight control system. performance.

In a first aspect, an embodiment of the present invention provides a filtering method, which includes:

Obtain the time domain perception signal affected by the vibration of the propeller of the drone, and the rotation frequency of the motor of the drone;

Perform frequency domain transformation on the time domain sensing signal to obtain the corresponding relationship between the sensing signal frequency and the sensing signal energy;

Based on the corresponding relationship between the sensing signal frequency and the sensing signal energy, determine the sensing signal energy corresponding to each of the multiple frequency multiplications, where the multiple frequency multiples refer to the sensing signal frequencies that are in multiple multiples of the rotation frequency of the motor;

According to the thresholds of the filters corresponding to the various frequency multipliers, the first filter corresponding to the frequency multiplier with the energy of the sensing signal greater than the corresponding threshold is turned on, and the second filter corresponding to the frequency multiplication with the energy of the sensory signal smaller than the corresponding threshold is turned off. device.

In a second aspect, an embodiment of the present invention provides a filtering device, including a memory and a processor; wherein, executable code is stored on the memory, and when the executable code is executed by the processor, the processing is performed. implements:

According to the thresholds of the filters corresponding to each of the multiple frequency multipliers, the first filter corresponding to the frequency multiplication with the energy of the sensing signal greater than the corresponding threshold is controlled to be turned on, and the first filter corresponding to the frequency multiplication with the energy of the sensing signal less than the corresponding threshold is controlled to be turned off. Second filter.

In a third aspect, an embodiment of the present invention provides a movable platform, including:

body;

a power system, arranged on the body, the power system is used to provide power for the movable platform;

And the filtering device provided by the second aspect of the embodiment of the present invention, the filtering device is disposed on the body.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the present invention The filtering method provided by the first aspect of the embodiment.

By adopting the present invention, the influence of a series of vibration excitations brought by the rotating propeller on the time-domain perception signal can be significantly reduced. If the energy of the perceptual signal corresponding to a certain octave is less than the threshold of the corresponding filter, the filter corresponding to the octave of which the energy of the perceptual signal is less than the corresponding threshold can be turned off, so that the filters that do not need to be used can be closed to the maximum extent, and then The phase margin of the controller can be guaranteed. At the same time, if the energy of the perceptual signal corresponding to a certain octave is greater than the threshold of the corresponding filter, the filter corresponding to the octave whose energy of the perceptual signal is greater than the corresponding threshold can be turned on, so that the corresponding filter can be used to filter out the excess of the tolerance limit. The energy of the sensing signal corresponding to a certain frequency multiplier, and then it can ensure that the energy of the sensory signal corresponding to the frequency multiplication that does not reach the standard is filtered out, so as to ensure that the controller can exert the limit control performance. It can be seen that the filter designed by the present invention has high rationality and can better filter out the interference signal energy generated by vibration excitation, thereby improving the control performance of the flight control system.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a schematic flowchart of a filtering method according to an embodiment of the present invention;

2 is a schematic diagram of a first filter with a target depth that performs filtering processing on perceptual signal energy greater than a corresponding threshold according to an embodiment of the present invention;

3 is another schematic flowchart of a filtering method provided by an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a filtering device according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work, all belong to the protection scope of the present invention.

The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a," "the," and "the" as used in the embodiments of the present invention and the appended claims are intended to include the plural forms as well, unless the context clearly dictates otherwise, "a plurality" Generally at least two are included.

Depending on the context, the words "if", "if" as used herein may be interpreted as "at" or "when" or "in response to determining" or "in response to detecting". Similarly, the phrases "if determined" or "if detected (the stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detected (the stated condition or event)," depending on the context )" or "in response to detection (a stated condition or event)".

In addition, the sequence of steps in the following method embodiments is only an example, and is not strictly limited.

FIG. 1 is a flowchart of a filtering method provided by an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps:

101. Acquire a time-domain perception signal affected by the vibration of the propeller of the drone, and the rotation frequency of the motor of the drone.

102. Perform frequency domain transformation on the time domain sensing signal to obtain a corresponding relationship between the sensing signal frequency and the sensing signal energy.

103. Based on the corresponding relationship between the frequency of the sensing signal and the energy of the sensing signal, determine the energy of the sensing signal corresponding to each of the multiple frequencies, where the multiple frequencies refer to the frequencies of the sensing signals that have multiple relationships with the rotation frequency of the motor.

104. According to the thresholds of the filters corresponding to the various frequency multipliers, turn on the first filter corresponding to the frequency multiplier whose perceptual signal energy is greater than the corresponding threshold, and close the second filter corresponding to the multiplier whose perceptual signal energy is less than the corresponding threshold. device.

In practical applications, when the drone is hovering or flying forward, the rotating propeller will bring a series of vibration excitations, and the vibration excitation interacts with the drone's flight control system to cause the drone to fly. Additional interference issues. Specifically, vibration excitation will act on some time-domain perception signals in the flight control system that are affected by the vibration of the UAV's propeller, which in turn will affect the accuracy of the time-domain perception signals, resulting in the flight control system based on low accuracy. The time-domain perception signal is used for control with large error.

Optionally, the above-mentioned time-domain perception signal affected by the vibration of the propeller of the drone may be, for example, an inertial measurement unit (Inertial Measurement Unit, IMU) detection signal or the like. The IMU signal can reflect the motion state of the drone body, and it is a time domain signal.

Optionally, the process of acquiring the time-domain perception signal affected by the vibration of the propeller of the drone may be implemented as follows: acquiring the acquisition frequency of the time-domain perception signal affected by the vibration of the propeller of the drone; acquiring a preset acquisition duration; Set the time domain perception signal to be collected according to the collection frequency within the collection duration.

In practical applications, the time domain sensing signal may be collected within a preset collection duration according to the collection frequency, so that the time domain sensing signal includes a fixed number of values in the time domain. For example, if the time-domain perception signal is collected within 0.1s at a collection frequency of 2000Hz, 200 values can be collected.

It can be understood that, the above collection duration can be set according to actual requirements. For example, it can be set according to the computing resources of the flight control system. When the computing resources of the flight control system are large, the acquisition duration can be appropriately increased, and when the computing resources of the flight control system are small, the acquisition duration can be appropriately reduced.

After the time domain sensing signal is acquired, frequency domain transformation can be performed on the time domain sensing signal. Through the frequency domain transformation processing of the time domain sensing signal, the corresponding relationship between the sensing signal frequency and the sensing signal energy can be obtained.

Optionally, the above-mentioned process of performing frequency domain transformation on the time domain sensing signal to obtain the corresponding relationship between the frequency of the sensing signal and the energy of the sensing signal may be implemented as follows: performing discrete Fourier transform on the sensing signal in the time domain to obtain the frequency of the sensing signal. Corresponding relationship with perceptual signal energy.

On the other hand, the rotation frequency of the motor of the drone can also be obtained, and the multiplier is a frequency that has a multiple relationship with the rotation frequency of the motor. For example, the rotation frequency of the motor is 200Hz, the double frequency is twice the rotation frequency of the motor, which is 200Hz, the double frequency is twice the rotation frequency of the motor, which is 400Hz, the triple frequency is three times the rotation frequency of the motor, which is 600Hz, and the quadruple frequency is 400Hz. It is four times the motor rotation frequency, namely 800Hz, and the sixfold frequency is six times the motor rotation frequency, that is, 1200Hz. By analogy, the frequency that is in various multiples of the motor rotation frequency can be calculated.

As mentioned above, the corresponding relationship between the sensing signal frequency and the sensing signal energy can be determined. There are multiple sensing signal frequencies in the corresponding relationship, and among the multiple sensing signal frequencies, there are frequencies that are multiples of the motor rotation frequency. The perceptual signal energy corresponding to each of the multiple frequency multiplications can be determined based on the above-mentioned corresponding relationship.

In practical applications, the thresholds of the filters corresponding to various frequency doublings can be obtained. If a certain frequency multiplier does not exceed the threshold of the corresponding filter, it can be considered that the noise corresponding to the frequency multiplier is within the tolerance limit, and no filtering processing is required. If an octave exceeds the threshold of the corresponding filter, it can be considered that the noise corresponding to the octave has exceeded the tolerance limit and needs to be filtered. In the embodiment of the present invention, special filters are provided for different frequency multiplications to perform filtering processing. Based on this, according to the thresholds of the filters corresponding to the various frequency multipliers, the first filter corresponding to the frequency multiplier whose perceptual signal energy is greater than the corresponding threshold value can be turned on, and the first filter corresponding to the frequency multiplication frequency whose perceptual signal energy is less than the corresponding threshold value can be turned off. Second filter.

It should be noted that, before the above-mentioned acquisition of the thresholds of the filters corresponding to the various frequency multiplications, the thresholds of the filters corresponding to the various frequency multiplications may be preset. Specifically, the thresholds of filters corresponding to multiple frequency doublings may be set to the same value, or different filter thresholds may be set for different frequency doublings, which are not limited in this embodiment of the present invention.

Optionally, after turning on the first filter corresponding to the frequency multiplier of which the energy of the sensing signal is greater than the corresponding threshold, the method provided by the embodiment of the present invention may further include: performing a filter on the energy of the sensing signal greater than the corresponding threshold through the first filter. Filter out processing.

The embodiment of the present invention does not limit the type of the filter, as long as the filter that can filter the energy of the sensing signal can be taken into consideration. In one possible implementation, a notch filter may be used to filter out the perceptual signal energy.

Correspondingly, the above-mentioned process of filtering out the perceptual signal energy greater than the corresponding threshold through the first filter can be implemented as follows: based on the perceptual signal energy greater than the corresponding threshold, the target depth of the first filter is determined; The first filter performs filtering processing on the perceptual signal energy greater than the corresponding threshold.

It should be noted that the notch filter has two filtering parameters, including width and depth. In this embodiment of the present invention, it can be considered that the width of the notch filter is a fixed value, and the depth of the first filter can be adjusted according to the energy of the sensing signal greater than the corresponding threshold. In this way, the perceptual signal energy can be filtered by the first filter adapted to the perceptual signal energy greater than the corresponding threshold, and the obtained filtering effect is better.

The embodiment of the present invention provides a method for calculating the target depth of the first filter. Optionally, the above process of determining the target depth of the first filter based on the perceptual signal energy greater than the corresponding threshold may be implemented as: determining the reciprocal of the perceptual signal energy greater than the corresponding threshold as the target depth of the first filter.

For example, assuming that the perceptual signal energy greater than the corresponding threshold is 5, the target depth of the first filter can be set to 1/5. Assuming that the perceptual signal energy greater than the corresponding threshold is 6, the target depth of the first filter can be set to 1/6.

In order to more intuitively understand the process of filtering out the perceptual signal energy greater than the corresponding threshold by the first filter with the target depth, an exemplary illustration is given with reference to FIG. 2. As shown in the upper figure of FIG. Number of numeric IMU signals. Then, the discrete Fourier transform is performed on the IMU signal, as shown in the figure in Figure 2, to obtain the corresponding relationship between the frequency of the IMU signal and the energy of the IMU signal.

In the figure in Figure 2, 100Hz is a double frequency and 200Hz is a double frequency. It is assumed that the IMU signal energy corresponding to the double frequency is 6, and the IMU signal energy corresponding to the double frequency is also 6, and their corresponding filter thresholds Both are 4, then it is necessary to filter the IMU signal energy at frequency 1 and frequency 2. The depth of the first notch filter used to filter out the energy of the IMU signal corresponding to the double frequency can be set to 1/6, and the depth of the second notch filter used to filter out the energy of the IMU signal corresponding to the double frequency is also Can be set to 1/6.

The corresponding relationship between the filtering frequency and the depth of the first notch filter and the second notch filter can be seen in the lower part of FIG. 2 . As can be seen from the middle and lower graphs in Figure 2, the two waveforms are opposite to the abscissa axis. In the filtering process, it is equivalent to superimposing two waveforms, then the superposition result is close to or equal to 0, that is to say, the IMU signal energy corresponding to one frequency can be filtered out by the first notch filter and the second notch filter. The IMU signal energy corresponding to the double frequency.

To sum up, another flowchart of the filtering method provided by the embodiment of the present invention is shown in FIG. 3 . First, sliding window processing may be performed on the continuous time domain sensing signals in the time domain. Specifically, the sliding window processing may be to collect a period of time domain sensing signals within a preset collection period according to the collection frequency. Then the discrete Fourier transform can be performed on the time-domain perception signal. It should be noted that since the rotating propeller will bring a series of vibration excitations, the vibration excitation will have an impact on the above-mentioned time-domain perception signal, so the object of the discrete Fourier transform is actually the time-domain perception signal and vibration excitation. the result of the interaction.

After the discrete Fourier transform, the corresponding relationship between the frequency of the sensing signal and the energy of the sensing signal can be obtained, and then the corresponding energy of the sensing signal can be determined based on the corresponding relationship. If the energy of the perceptual signal corresponding to a certain frequency is greater than the threshold of the corresponding filter, the first filter corresponding to the frequency of the frequency of which the energy of the perceptual signal is greater than the corresponding threshold is turned on. If the energy of the perceptual signal corresponding to a certain frequency is less than the threshold of the corresponding filter, the second filter corresponding to the frequency of which the energy of the perceptual signal is less than the corresponding threshold is turned off.

Yet another exemplary embodiment of the present invention provides a filtering device, as shown in FIG. 4 , the device includes:

memory 1910 for storing computer programs;

The processor 1920 is used for running the computer program stored in the memory 1910 to realize:

Based on the corresponding relationship between the perceptual signal frequency and the perceptual signal energy, determine the perceptual signal energy corresponding to each of multiple frequency multiplications, and the multiple frequency multiplication refers to the perceptual signal frequency that is in a multiple multiple relationship with the rotation frequency of the motor;

Optionally, the processor 1920 is further configured to:

The first filter is controlled to filter out the energy of the sensing signal greater than the corresponding threshold.

Optionally, the filter is a notch filter.

Optionally, the processor 1920 is configured to:

determining the target depth of the first filter based on the perceptual signal energy greater than the corresponding threshold;

The first filter with the target depth is controlled to perform filtering processing on the perceptual signal energy greater than the corresponding threshold.

Optionally, the processor 1920 is configured to:

The inverse of the perceptual signal energy greater than the corresponding threshold is determined as the target depth of the first filter.

Optionally, the time-domain perception signal affected by the vibration of the propeller of the drone includes an inertial measurement unit detection signal.

Optionally, the processor 1920 is configured to:

Discrete Fourier transform is performed on the time-domain sensing signal to obtain the corresponding relationship between the frequency of the sensing signal and the energy of the sensing signal.

Optionally, the processor 1920 is configured to:

Obtain the acquisition frequency of the time-domain perception signal affected by the propeller vibration of the drone;

Get the preset collection time;

The time domain sensing signal is collected according to the collection frequency within the preset collection time period.

The filtering apparatus shown in FIG. 4 may perform the method of the embodiment shown in FIG. 1 to FIG. 3 . For parts not described in detail in this embodiment, reference may be made to the related description of the embodiment shown in FIG. 1 to FIG. 3 . For the execution process and technical effects of the technical solution, refer to the descriptions in the embodiments shown in FIG. 1 to FIG. 3 , which will not be repeated here.

FIG. 5 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention. In FIG. 5 , it is illustrated by taking the movable platform implemented as an unmanned aerial vehicle as an example.

As shown in FIG. 5 , the movable platform includes: a body 21 , a power system 22 arranged on the body 21 , and a filter device 23 arranged on the body. The filtering device 23 may be the device in the embodiment shown in FIG. 4 . For parts that are not described in detail in this embodiment, reference may be made to the relevant description of the embodiment shown in FIG. 4 .

The power system 22 of the drone may include an electronic governor, one or more rotors, and one or more motors corresponding to the one or more rotors.

Other devices such as inertial measurement units (not shown in the figure) may also be provided on the UAV, which are not listed here.

In addition, an embodiment of the present invention further provides a computer-readable storage medium, where executable codes are stored in the computer-readable storage medium, and the executable codes are used to implement the filtering methods provided by the foregoing embodiments.

The technical solutions and technical features in each of the above embodiments can be used alone or in combination without conflict. As long as they do not exceed the cognitive scope of those skilled in the art, they all belong to equivalent embodiments within the protection scope of the present invention.

The above descriptions are only the embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied to other related technologies Fields are similarly included in the scope of patent protection of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims

A filtering method, comprising:

Obtain the time domain perception signal affected by the vibration of the propeller of the drone, and the rotation frequency of the motor of the drone;

Perform frequency domain transformation on the time domain sensing signal to obtain the corresponding relationship between the sensing signal frequency and the sensing signal energy;

Based on the corresponding relationship between the sensing signal frequency and the sensing signal energy, determine the sensing signal energy corresponding to each of the multiple frequency multiplications, where the multiple frequency multiples refer to the sensing signal frequencies that are in multiple multiples of the rotation frequency of the motor;

According to the thresholds of the filters corresponding to each of the multiple frequency multipliers, the first filter corresponding to the frequency multiplication with the energy of the sensing signal greater than the corresponding threshold is turned on, and the second filter corresponding to the frequency multiplication with the energy of the sensory signal smaller than the corresponding threshold is turned off. device.
The method according to claim 1, wherein after turning on the first filter corresponding to a frequency multiplier whose energy of the sensing signal is greater than the corresponding threshold, the method further comprises:

Through the first filter, the energy of the sensing signal greater than the corresponding threshold is filtered out.
The method according to claim 2, wherein the filter is a notch filter.
The method according to claim 3, characterized in that, performing filtering processing on the perceptual signal energy greater than a corresponding threshold through the first filter, comprising:

determining the target depth of the first filter based on the perceptual signal energy greater than the corresponding threshold;

The perceptual signal energy greater than the corresponding threshold is filtered using the first filter having the target depth.
The method according to claim 4, wherein the determining the target depth of the first filter based on the perceptual signal energy greater than a corresponding threshold value comprises:

The inverse of the perceptual signal energy greater than the corresponding threshold is determined as the target depth of the first filter.
The method according to any one of claims 1-5, wherein the time domain perception signal affected by the vibration of the propeller of the drone comprises an inertial measurement unit detection signal.
The method according to claim 1, wherein the performing frequency domain transformation on the time domain sensing signal to obtain the corresponding relationship between the sensing signal frequency and the sensing signal energy, comprising:

Discrete Fourier transform is performed on the time-domain sensing signal to obtain the corresponding relationship between the frequency of the sensing signal and the energy of the sensing signal.
The method according to claim 1, wherein the acquiring the time domain perception signal affected by the vibration of the propeller of the drone comprises:

Obtain the acquisition frequency of the time-domain perception signal affected by the propeller vibration of the drone;

Get the preset collection time;

The time domain sensing signal is collected according to the collection frequency within the preset collection time period.
A filtering device, comprising a memory and a processor; wherein, executable code is stored on the memory, and when the executable code is executed by the processor, the processor is made to realize:

Obtain the time domain perception signal affected by the vibration of the propeller of the drone, and the rotation frequency of the motor of the drone;

Perform frequency domain transformation on the time domain sensing signal to obtain the corresponding relationship between the sensing signal frequency and the sensing signal energy;

Based on the corresponding relationship between the sensing signal frequency and the sensing signal energy, determine the sensing signal energy corresponding to each of the multiple frequency multiplications, where the multiple frequency multiples refer to the sensing signal frequencies that are in multiple multiples of the rotation frequency of the motor;

According to the thresholds of the filters corresponding to each of the multiple frequency multipliers, the first filter corresponding to the frequency multiplication with the energy of the sensing signal greater than the corresponding threshold is controlled to be turned on, and the first filter corresponding to the frequency multiplication with the energy of the sensing signal less than the corresponding threshold is controlled to be turned off. Second filter.
The apparatus according to claim 9, wherein the processor is further configured to:

The first filter is controlled to filter out the energy of the sensing signal greater than the corresponding threshold.
The apparatus of claim 10, wherein the filter is a notch filter.
The apparatus of claim 11, wherein the processor is configured to:

determining the target depth of the first filter based on the perceptual signal energy greater than the corresponding threshold;

The first filter with the target depth is controlled to perform filtering processing on the perceptual signal energy greater than the corresponding threshold.
The apparatus of claim 12, wherein the processor is configured to:

The inverse of the perceptual signal energy greater than the corresponding threshold is determined as the target depth of the first filter.
The device according to any one of claims 9-13, wherein the time-domain perception signal affected by the vibration of the propeller of the drone comprises an inertial measurement unit detection signal.
The apparatus of claim 9, wherein the processor is configured to:

Discrete Fourier transform is performed on the time-domain sensing signal to obtain the corresponding relationship between the frequency of the sensing signal and the energy of the sensing signal.
The apparatus of claim 9, wherein the processor is configured to:

Obtain the acquisition frequency of the time-domain perception signal affected by the propeller vibration of the drone;

Get the preset collection time;

The time domain sensing signal is collected according to the collection frequency within the preset collection time period.
A movable platform, characterized in that, comprising:

body;

a power system, arranged on the body, the power system is used to provide power for the movable platform;

and the filtering device according to any one of claims 9-16, wherein the filtering device is arranged on the body.
A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement any one of claims 1-8 The filtering method described in item.