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卡尔曼滤波在数据去噪，获得真实值的运用中广泛使用，在采集一些信号时，很实用。 测试方法：通过将DAC输出与ADC连接，，DAC输出一固定值
通过ADC采集数据，由于ADC精度受限以及一些干扰，ADC采集到
的数据在固定值附近波动，通过卡尔曼滤波估计一下ADC采集的真实值。
这个与之前的PID测试有点区别，PID是设定目标，自动调节DAC，使
ADC采集数据接近目标。 PID演示连接： 专栏：ARM DSP库 PID控制测试 - 哔哩哔哩 (bilibili.com) 视频：【ARM单片机PID控制测试——基于DSP库】 https://www.bilibili.com/video/BV1sd4y1w755/?share_source=copy_web&vd_source=7f0cb9c0f09b768583faf157910eb515 视频 1、卡尔曼滤波结构体：type_KalmanFilter - //卡尔曼滤波结构体
- typedef struct KalmanFilter
- {
- float x_mea; // 测量值
- float x_est; // 估计值
- float e_mea; // 测量偏差
- float e_est; // 估计偏差
- float Kk; // Karlman 增益
- }type_KalmanFilter;
2、初始化，为结构体成员赋值 - //Kalman初始化
- void Kalman_Init(type_KalmanFilter* kalmanFilter, float FirstMeaValue, float E_mea, float FirstEstValue, float E_est)
- {
- kalmanFilter->x_est = FirstEstValue;
- kalmanFilter->x_mea = FirstMeaValue;
- kalmanFilter->e_est = E_est;
- kalmanFilter->e_mea = E_mea;
- kalmanFilter->Kk = Kk_calc(kalmanFilter->e_est, kalmanFilter->e_mea);
- }
3、更新，将采集到的数据作为测量输入 - //Kalman更新
- void Kalman_Update(type_KalmanFilter* kalmanFilter, float newMeaValue)
- {
- float temp = kalmanFilter->e_est;
- kalmanFilter->x_est = kalmanFilter->x_est + kalmanFilter->Kk * (newMeaValue - kalmanFilter->x_est);
- kalmanFilter->x_mea = newMeaValue;
- kalmanFilter->Kk = Kk_calc(kalmanFilter->e_est, kalmanFilter->e_mea);
- kalmanFilter->e_est = (1 - kalmanFilter->Kk) * temp;
- }
4、端口设置 - void ad_da_init(void)
- {
- //时钟配置
- rcu_periph_clock_enable(RCU_GPIOA);
- rcu_periph_clock_enable(RCU_AF);
- rcu_periph_clock_enable(RCU_ADC0);
- rcu_periph_clock_enable(RCU_DAC);
-
- rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV12);
-
- //接口配置
- gpio_init(GPIOA,GPIO_MODE_AIN,GPIO_OSPEED_50MHZ,GPIO_PIN_4);
- gpio_init(GPIOA,GPIO_MODE_AIN,GPIO_OSPEED_50MHZ,GPIO_PIN_6);
-
- //ADC输入配置
- adc_special_function_config(ADC0,ADC_CONTINUOUS_MODE,ENABLE);
- adc_data_alignment_config(ADC0,ADC_DATAALIGN_RIGHT);
- adc_channel_length_config(ADC0,ADC_REGULAR_CHANNEL,1);
- adc_regular_channel_config(ADC0,0,ADC_CHANNEL_6,ADC_SAMPLETIME_55POINT5);
- adc_external_trigger_config(ADC0,ADC_REGULAR_CHANNEL,DISABLE);
-
- adc_enable(ADC0);
- delay_ms(1);
- adc_calibration_enable(ADC0);
-
- //DAC输出配置
- dac_trigger_source_config(DAC0,DAC_TRIGGER_SOFTWARE);
- dac_trigger_enable(DAC0);
- dac_wave_mode_config(DAC0,DAC_WAVE_DISABLE);
- dac_output_buffer_enable(DAC0);
-
- dac_enable(DAC0);
- dac_data_set(DAC0, DAC_ALIGN_12B_R, (u16)1024);
- dac_software_trigger_enable(DAC0);
-
- //Kalman初始化
- Kalman_Init(&k, 1024, 2, 1024, 2);
- }
5、滤波处理 - void dsp_test(void)
- {
- u16 adc_get=0;
-
- adc_software_trigger_enable(ADC0,ADC_REGULAR_CHANNEL);
- if(adc_flag_get(ADC0,ADC_FLAG_EOC))
- {
- adc_flag_clear(ADC0,ADC_FLAG_EOC);
- adc_get = adc_regular_data_read(ADC0);
- Kalman_Update(&k,adc_get);
- }
-
- printf("%d %f %f\r\n",adc_get,k.x_mea,k.x_est);
- }
6、主函数 - #include "bitband.h"
- #include "led.h"
- #include "systick.h"
- #include "print.h"
- #include "dsp_test.h"
- u16 mem_infor[2]={0};
- u32 uid[3]={0};
- int main(void)
- {
- systick_set(96);
- led_init();
-
- print_config(9600);
-
- get_mem_infor(&mem_infor[0],&mem_infor[1]);
- printf("GD32F103VKT6 Flash Size=%dKB,Sram Size=%dKB...\r\n",mem_infor[1],mem_infor[0]);
- get_uid(uid);
- printf("GD32F103VKT6 UID=%d%d%d...\r\n",uid[0],uid[1],uid[2]);
-
- ad_da_init();
-
- while(1)
- {
- dsp_test();
- delay_ms(100);
- }
- }
演示视频： GD32F103卡尔曼滤波实现 【GD32F103卡尔曼滤波测试】 https://www.bilibili.com/video/BV1bR4y1o7TQ/?share_source=copy_web&vd_source=7f0cb9c0f09b768583faf157910eb515 GD32F103卡尔曼滤波测试效果 【GD32F103卡尔曼滤波测试效果】 https://www.bilibili.com/video/BV1u14y1n7KD/?share_source=copy_web&vd_source=7f0cb9c0f09b768583faf157910eb515 7、将数据打印输出，导入MATLAB，结果如图所示： 可以看到整体上实际的采集值在波动，而卡尔曼滤波估计的真实值却基本很平稳
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楼主
我觉得跟多采集几次然后取平均这种暴力滤波方式差不多，，明天测试后补充，，，
