Real-time Wavelet Complementary Velocity Estimator

Wavelet Filter Banks, Complementary Filter

We have proposed a new real-time Wavelet Complementary velocity Estimator (WCE) over position and acceleration data gathered from an electro hydraulic servo shaking table. This is a batch estimator type that is based on the wavelet filter banks which extract the high and low resolution of data. Our complementary estimator combines the low and high resolutions of the two velocities acquired from numerical differentiation and integration of the position and acceleration sensors, which can be implemented on an FPGA. By this method the numerical velocity is estimated without having high noise of differentiators, delay and integration drifting bias which allows us to make velocity sensors with as low as possible mechanically moving parts. We have compared this method with kalman and butterworth filters over stability, delay and by its long time integration of getting back the position data.