如何实现LowPass过滤器？ [英] How to implement a LowPass Filter?

问题描述

我正在对陀螺仪和加速度计数据进行一些数学计算，我想对结果数据进行低通滤波。那么有人可以为低通滤波器发布一些通用代码吗？

I'm doing some math on both gyroscope and accelerometer data combined and I'd like to low pass filter the resulting data. So could someone post some generic code for a Low Pass filter?

推荐答案

一阶IIR低通滤波器可以是form：

A 1st order IIR low-pass filter can be of the form:

output_value = rate * input_value + (1.0 - rate) * previous_output_value;

这正是Apple的AccelerometerGraph示例中的内容。您可以根据要滚降或开始衰减的频率（非常非常大致每秒抖动）来选择速率参数，以获得更平滑的结果输出，以及输入数据的采样率。

which is pretty much what's inside Apple's AccelerometerGraph example. You select the rate parameter depending on what frequency (very very roughly shakes per second) you want to roll-off or start to attenuate to get a smoother resulting output, and the sample rate of the input data.

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