利用改进卡尔曼滤波提高回波信号ToF精度

陈宇豪,吴瑾,李懿峰,陆小霞,王奕媛

Improving ToF accuracy of echo signals using improved Kalman filtering

Yuhao CHEN,Jin WU,Yifeng LI,Xiaoxia LU,Yiyuan WANG

表 1 5种滤波方法下的滤波效果评价

Tab.1 Evaluation of filtering performance via five filtering methods

SNR/dB MSE $ {J_{{\text{smooth}}}} $ $ {J_{{\text{phase}}}} $/rad $ {J_{{\text{amp}}}} $ 改进小波变换 25 0.013 4.34 0.065 0.975 20 0.078 8.42 0.084 0.943 14 0.513 18.27 0.108 0.922 改进S-G滤波 25 0.025 6.24 0.062 0.946 20 0.168 13.16 0.104 0.914 14 0.821 22.03 0.171 0.881 UAKF 25 0.022 3.19 0.082 0.928 20 0.102 8.13 0.151 0.877 14 0.698 17.24 0.245 0.823 VBAKF 25 0.015 2.14 0.052 0.938 20 0.092 5.32 0.234 0.897 14 0.446 15.88 0.208 0.843 TV-BAKF 25 0.015 2.77 0.042 0.984 20 0.063 6.53 0.094 0.947 14 0.342 17.32 0.145 0.917