基于小波分析的卡尔曼滤波校正方法.pdfVIP

基于小波分析的卡尔曼滤波校正方法 姜斐1 熊岳山1 谭珂2 郭光友2 (‘中国国防科技大学计算机学院。湖南，长沙。410073) i2巾国人民解放军总医院技术教育中心。北京．1100853) 摘要：电磁传感N(FASTRAK)通常用于虚拟手术中方位与角度的跟踪．但他们的精度并不是很高，原因在于电磁场很容易 受到许多外部因素的干扰．本文提出了一种新的基于小波分析的自适应卡尔曼滤波方法，设计了基于Sage和Husa的次优无 偏递推极大后验(MAP)噪声统计估计值器，对FASTRAK所观测的数据进行滤波校正．实验结果表明，．这种方法大大提高了 FASTRAK的数船精度． 关键词：小波分析：自适应卡尔曼滤波；电磁传感器；虚拟手术；滤波校正 A Methodwith KalmanFilterBasedonWavelet Calibration Adaptive Analysis Fei KeTan2 Gu02 Xion91 Guangyou Jian91+Yueshan Sch001．NationalofDefense (1Computer University Technology．Changsha。410073) Education．PLAGeneral (2CenterforTechnique Hospital．Beijing．100853) devicesareoftenusedtotracklocationandorientationofauserinavirtual environment． Abstract：Electromagnetictracking reality Their not duetothe ofthe onthelocal fieldthatcan precision，however,isalwayshighenough dependencesystem electromagnetic be altered externalfactors．Inthis aHewcalibrationmethodwith Katmanfilterbasedon easily bymany paper,wepropose adaptive wavelet a estimatortoobtainnoisestatistics unbiasedrecursiveMAPmethod analysis，‘anddesigncorresponding bysuboptimal advocatedandHusa．ThismethodCallfilterthedatathat FASTRAK．Theresultofthe showsthatthis by bySage given experiment method call the ofFASTRAK improve greatly． precision Kalman andCalibration Filter：ElectromagneticTracking；VirtualSurgery；Filtering Keywords：