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Second generation Vold-Kalman Order Filtering


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Second generation Vold-Kalman Order Filtering



19 Apr 2012 (Updated )

Filtering of non-stationary periodic components from signals using a multi-order Vold-Kalman Filter.

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The Vold-Kalman Filter, introduced by HÃ¥vard Vold and Jan Leuridan in 1993, is able to extract non-stationary periodic components from a signal using a known frequency vector [1]. Being formulated in a least-squares sense, it can be solved as a sparse linear system. Similar to the Kalman filter, VKF minimises a cost function based on a structural equation and a data equation.

This submission implements the second generation VKF with the ability to extract multiple orders at the same time, with energy spreading in case of crossing orders [2].

x = vkf(y,fs,f) extracts the order with frequency vector f from signal y with samplerate fs, using a 2-pole filter with a -3dB bandwidth of 1 percent of the sample rate. The output is a single waveform x.

[...] = vkf(y,fs,f,p) uses a p-order filter (typically between 1 or 4). Every order increases the roll-off by -40dB per decade. By specifying additional lower-order coefficients, zero boundary conditions are added. For instance: p = [2 0 1] applies 2nd order filtering and forces the envelope amplitude and its first derivative to zero at t_1 and t_N.

[...] = vkf(y,fs,f,p,bw) uses a bandwidth in Hertz specified by bw. If bw is a scalar, a constant bandwidth is used; if bw is a vector with the same length as y, a time-varying instantaneous bandwidth is realised.

X = vkf(y,fs,F,...) with [N,K] = size(F), performs simultaneous extraction of K orders with frequency vectors [f_1,...,f_K] in array F. In case of crossing orders, this method tries to reveal the correctorder amplitudes. The output is an array of K waveforms [x_1,...,x_K].

X = vkf(y,fs,F,p,bw,0) switches to a single-order algorithm. K orders are still extracted, but the single-order algorithm is computationally less demanding. This is suggested for high sample rates and/or long timeseries.

[a,c] = vkf(...) returns the complex envelope(s) a and phasor(s) c, such that the order waveform(s) can be reconstructed by x = real(a.*c).

[a,c,r] = vkf(...) ouputs an additional selectivity vector r used to realise the bandwidth given by bw.

Calling VKF without arguments shows a small demonstration of multi-order filtering with two crossing orders in the presence of white noise.

Note: Filter orders > 4 usually result in ill conditioning and should be avoided. The filter bandwidth determination was implemented for arbitrary order but was not verified for orders higher than 3.

Written by: Maarten van der Seijs, 2010.
Version 1.4, 3 May 2013.
[1] Vold, H. and Leuridan, J. (1993), High resolution order tracking at extreme slew rates, using Kalman tracking filters. Technical Report 931288, Society of Automotive Engineers.
[2] Tuma, J. (2005), Setting the passband width in the Vold-Kalman order tracking filter. Proceedings of the International Congress on Sound and Vibration (ICSV12), Lisbon, Portugal.

Required Products MATLAB
MATLAB release MATLAB 7.9 (R2009b)
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Comments and Ratings (3)
24 May 2013 Dennis

Dear Maarten, nice contribution indeed.

I teach experimental dynamics and created a link from my course to your code. The students will use it to analyse vehicle engine orders. Thereafter they have to manipulate the orders in order to make the car sound better (sound design).

25 Apr 2012 Maarten van der Seijs

Thank you for the comments Matthew, I made some small changes to the descriptive text. I agree with you that using the clear command within a function is not standard practice, but maybe it helps to free some memory for the sparse matrix operations that follow.

20 Apr 2012 Matthew

Good submission. Example works advertised, lots of helpful comment in code.

However, a few things could improve:
* why manually clear variables at the end of a MATLAB function(?)
* A demo function exists in the code but is not mentioned in the help text...


23 Apr 2012

Minor changes to description and code. Functionally the same.

03 May 2013

Bug update for single-order algorithm.

03 May 2013

now with new m-file

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