一维数组的Kalman滤波适合对具有一定噪声的物联网传感器测量信息进行滤波。
根据笔者实际测试,可以实现噪声的过滤,并且保留异常值,且滤波效率很高。
实现的dome如下,大家可以根据自己的需要调整具体的参数:
public class KalmanFilter {
private double q; // process noise covariance 过程噪声协方差
private double r; // measurement noise covariance 测量噪声协方差
private double x; // estimated value 估计值
private double p; // estimation error covariance 估计误差协方差
private double k; // adaptive Kalman filter gain 自适应Kalman滤波器增益
public KalmanFilter(double q, double r, double p, double initialValue) {
this.q = q;
this.r = r;
this.p = p;
this.x = initialValue;
}
public double update(double measurement, double processNoise) {
// prediction update
x = x + processNoise;
p = p + q;
// measurement update
k = p / (p + r);
x = x + k * (measurement - x);
p = (1 - k) * p;
return x;
}
public static void main(String[] args) {
// 设置Kalman滤波器参数
double q = 0.01; // process noise covariance
double r = 0.1; // measurement noise covariance
double p = 1; // estimation error covariance
double initialValue = 0; // initial estimated value
// 创建Kalman滤波器对象
KalmanFilter kalmanFilter = new KalmanFilter(q, r, p, initialValue);
// 模拟测量数据,这里假设每秒更新一次测量值
for (int i = 0; i < 100; i++) {
double measurement = Math.tan(i / 10.0); // 模拟测量值,这里假设有一定的测量误差
double processNoise = 0.1; // 过程噪声,这里假设有一定的随机干扰
double filteredValue = kalmanFilter.update(measurement, processNoise); // 更新估计值和估计误差协方差
System.out.println("Filtered value: " + filteredValue); // 输出滤波后的估计值
}
}
}