Signal processing device, detection device, sensor, electronic apparatus and moving object
First Claim
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1. A signal processing device for processing an input signal generated by a sensor and detected by a circuit, the device comprising:
- a noise estimation circuit configured to (i) receive the input signal generated by the sensor, (ii) estimate an observation noise signal by extracting the observation noise signal from the received input signal, (iii) estimate a system noise signal by performing gain processing on the observation noise signal using a gain processing circuit, (iv) generate a dispersion of observation noise based on the observation noise signal, and (v) generate a dispersion of system noise based on the system noise signal; and
an arithmetic circuit configured toreceive the input signal generated by the sensor,receive, from the noise estimation circuit, the dispersion of observation noise and the dispersion of system noise,provide the input signal, the dispersion of observation noise, and the dispersion of system noise as inputs to a Kalman filter,perform Kalman filter processing on the input signal to extract a DC component of the input signal as an estimation value of the Kalman filter processing using the dispersion of observation noise and the dispersion of system noise as estimated from the input signal by the noise estimation circuit, andgenerate an output signal to be applied to the input signal, wherein the input signal corresponds to a physical measurement performed by the sensor and the output signal adjusts the input signal based on a difference between the input signal and the extracted DC component of the input signal,wherein the Kalman filter processing includes performing a time update process of an error covariance using the dispersion of system noise received from the noise estimation circuit and performing an observation update process of a Kalman gain using the dispersion of observation noise received from the noise estimation circuit.
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Abstract
A signal processing device includes a Kalman filter that extracts a DC component of an input signal by performing Kalman filter processing on the basis of observation noise and system noise which are estimated from the input signal.
12 Citations
20 Claims
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1. A signal processing device for processing an input signal generated by a sensor and detected by a circuit, the device comprising:
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a noise estimation circuit configured to (i) receive the input signal generated by the sensor, (ii) estimate an observation noise signal by extracting the observation noise signal from the received input signal, (iii) estimate a system noise signal by performing gain processing on the observation noise signal using a gain processing circuit, (iv) generate a dispersion of observation noise based on the observation noise signal, and (v) generate a dispersion of system noise based on the system noise signal; and an arithmetic circuit configured to receive the input signal generated by the sensor, receive, from the noise estimation circuit, the dispersion of observation noise and the dispersion of system noise, provide the input signal, the dispersion of observation noise, and the dispersion of system noise as inputs to a Kalman filter, perform Kalman filter processing on the input signal to extract a DC component of the input signal as an estimation value of the Kalman filter processing using the dispersion of observation noise and the dispersion of system noise as estimated from the input signal by the noise estimation circuit, and generate an output signal to be applied to the input signal, wherein the input signal corresponds to a physical measurement performed by the sensor and the output signal adjusts the input signal based on a difference between the input signal and the extracted DC component of the input signal, wherein the Kalman filter processing includes performing a time update process of an error covariance using the dispersion of system noise received from the noise estimation circuit and performing an observation update process of a Kalman gain using the dispersion of observation noise received from the noise estimation circuit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 18, 19, 20)
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15. A detection device comprising:
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a detection circuit that receives a detection signal from a physical quantity transducer, detects a physical quantity signal based on a physical quantity, and generates an input signal based on the physical quantity; and a noise estimation circuit configured to (i) receive the input signal generated by the detection circuit, (ii) estimate an observation noise signal by extracting the observation noise signal from the received input signal, and (iii) estimate a system noise signal by performing gain processing on the observation noise signal using a gain processing circuit, (iv) generate a dispersion of observation noise based on the observation noise signal, and (v) generate a dispersion of system noise based on the system noise signal; and an arithmetic circuit configured to receive the input signal generated by the detection circuit, receive, from the noise estimation circuit, the dispersion of observation noise and the dispersion of system noise, provide the input signal, the dispersion of observation noise, and the dispersion of system noise as inputs to a Kalman filter, perform Kalman filter processing on the input signal to extract a DC component of the input signal as an estimation value of the Kalman filter processing using the dispersion of observation noise and the dispersion of system noise as estimated from the input signal by the noise estimation circuit, and generate an output signal to be applied to the input signal, wherein the input signal corresponds to a physical measurement performed by the physical quantity transducer and the output signal adjusts the input signal based on a difference between the input signal and the extracted DC component of the input signal, wherein the Kalman filter processing includes performing a time update process of an error covariance using the dispersion of system noise received from the noise estimation circuit and performing an observation update process of a Kalman gain using the dispersion of observation noise received from the noise estimation circuit. - View Dependent Claims (16)
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Specification