HIGH FREQUENCY DISTURBANCE DETECTION AND COMPENSATION

摘要

A disturbance correction device comprises a disturbance detector configured to detect and output a high frequency component of a measurement signal from an inertial sensor and a level converter coupled to the output of the disturbance detector. The level converter is configured to convert the high frequency component to a direct current (DC) signal. The disturbance correction device also comprises a compensator coupled to an output of the level converter and configured to compare the DC signal with a plurality of thresholds. When the DC signal passes one of the plurality of thresholds, the compensator is further configured to output a respective process noise increment to a Kalman filter. The respective process noise increment corresponds to the passed threshold.

主权项

1. A disturbance correction device comprising:
a disturbance detector configured to detect and output a high frequency component of a measurement signal from an inertial sensor; a level converter coupled to the output of the disturbance detector, the level converter configured to convert the high frequency component to a direct current (DC) signal; a compensator coupled to an output of the level converter and configured to compare the DC signal with a plurality of thresholds; wherein, when the DC signal passes one of the plurality of thresholds, the compensator is further configured to output a respective process noise increment to a Kalman filter, the respective process noise increment corresponding to the passed threshold.