Application of cascade-connected α-β filter to diminish the drifting effect from integration

In this paper, we proposed a novel cascade-connected alpha-beta filter in an attempt to diminish the offset arising from integration. In control of unmanned vehicles, integrators are always used to produce velocity signals from the acceleration signals, which are offered by micro electro-mechanical (MEM) accelerators. Nevertheless, the drift owing to the integration offset always exists, and will result in unavailable integrator-output signals. In order to remove or diminish the drift effect, a cascade-connected alpha-beta filter is proposed in which the first filter is used for smoothing signals and the later is for diminishing the offset error so that integrator-output signals can be effectively and correctly used as velocities. The simulation results, when compared with other integration methods, strong suggest the proposed integration scheme can adequately crush drifting phenomena as well as noise disturbances.