Filter configuration allows tuning of signal processing parameters such as cut-off frequencies and filter order. These settings are used to adapt to specific operational requirements.
Filter configuration
|
GET/SET FILTER |
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|---|---|---|---|---|---|---|
|
SETTING GROUP |
DESCRIPTION |
DEFAULT |
UNIT |
DATA TYPE |
VALID RANGE |
NOTE |
|
gyroaccfc |
Projected accelerations cut-off frequency. |
1.0 |
[Hz] |
Single |
[0.01, inf] |
Used to adapt to specific operational requirements. |
|
enableyawfilter |
Boolean flag to enable yaw high-pass filter. If 1 (true), yaw high-pass filter is enabled. If 0 (false), yaw high-pass filter is disabled. |
0 |
- |
Boolean |
0 (false),1 (true) |
Should only be enabled if no yaw reference is present and the MRU is stationary. |
|
yawhpwc |
Cut-off frequency (in rad/s) for yaw high-pass filter. |
2pi/1000 |
[rad/s] |
Single |
[2pi/10000, 2pi/100] |
A high cut-off frequency minimizes the noise on the output signal but introduces significant phase shifts. A low cut-off frequency reduces the phase shift between the input and output signals but allows more noise to pass through. |
|
yawfilter2order |
Boolean flag to select filter order of yaw high-pass filter. If 1 (true), 2nd order yaw filter is used (YawFilter2Order). If 0 (false), 4th order yaw filter is used (YawFilter4Order). |
1 |
- |
Boolean |
0 (false),1 (true) |
A higher order offers a sharper cut-off and more aggressive filtering. |
Example:
Examples of 'get' and corresponding 'set' commands within the filter domain are provided below.
|
GET |
SET |
|
get,filter,gyroaccfc<CR><LF> |
set,filter,gyroaccfc,1<CR><LF> |
|
get,filter,enableyawfilter<CR><LF> |
set,filter,enableyawfilter,1<CR><LF> |
|
get,filter,yawhpwc<CR><LF> |
set,filter,yawhpwc,0.005<CR><LF> |
|
get,filter,yawfilter2order<CR><LF> |
set,filter,yawfilter2order,1<CR><LF> |