数字双极点低通滤波器-二阶巴特沃斯滤波器

1 描述

最近看到apollo的滤波器代码，猛一看没整明白，因此就想推导一下公式。代码如下

void LpfCoefficients(const double ts, const double cutoff_freq,
                     std::vector<double> *denominators,
                     std::vector<double> *numerators) {
  denominators->clear();
  numerators->clear();
  denominators->reserve(3);
  numerators->reserve(3);

  double wa = 2.0 * M_PI * cutoff_freq;  // Analog frequency in rad/s
  double alpha = wa * ts / 2.0;          // tan(Wd/2), Wd is discrete frequency
  double alpha_sqr = alpha * alpha;
  double tmp_term = std::sqrt(2.0) * alpha + alpha_sqr;
  double gain = alpha_sqr / (1.0 + tmp_term);

  denominators->push_back(1.0);
  denominators->push_back(2.0 * (alpha_sqr - 1.0) / (1.0 + tmp_term));
  denominators->push_back((1.0 - std::sqrt(2.0) * alpha + alpha_sqr) /
                          (1.0 + tmp_term));

  numerators->push_back(gain);
  numerators->push_back(2.0 * gain);
  numerators->push_back(gain);
}

从代码上可以看出来，应该是采用的是二阶的巴特沃斯滤波器，下面进行一下推导。
巴特沃斯二阶模拟滤波器传递函数
$$H(s)=\frac{w^{}}{s^2+2\ast 0.707\ast w_N\ast s+w_N^2}$$