基于混合滤波算法的三维力传感器信号处理

Three-Dimensional Force Sensor Signal Processing Based on Hybrid Filtering Algorithm

摘要: 针对三维力传感器存在维间耦合和噪声干扰问题，提出了基于混合滤波算法的三维力传感器信号处理方法。先根据三维力传感器的测量原理建立三维力传感器系统模型，设计标定实验，根据力传感器标定数据利用最小二乘法拟合力传感器维间耦合矩阵，实现三维力传感器的维间解耦，然后利用Sage-Husa自适应滤波算法对信号进行初次滤波，降低力传感器系统噪声和观测噪声的干扰，最终使用滑动平均值滤波算法对信号进行平滑处理得到最终的滤波数据。实验结果表明，本文提出的方法有较好的解耦效果和降噪效果，提高了力传感器输出信号的稳定性和准确性。

Abstract: Aiming at the problem of inter-dimensional coupling and noise interference in three-dimensional force sensor, a signal processing method of three-dimensional force sensor based on hybrid filtering algorithm is proposed. Firstly, the three-dimensional force sensor system model is established according to the measurement principle of the three-dimensional force sensor, and the calibration experiment is designed. According to the calibration data of the force sensor, the least square method is used to fit the inter-dimensional coupling matrix of the force sensor to realize the inter-dimensional decoupling of the three-dimensional force sensor. Then, the Sage-Husa adaptive filtering algorithm is used to filter the signal for the first time to reduce the interference of the noise and observation noise of the force sensor system. Finally, the moving average filtering algorithm is used to smooth the signal to obtain the final filtering data. The experimental results show that the proposed method has better decoupling effect and noise reduction effect, and improves the stability and accuracy of the output signal of the force sensor.