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First-Order Adaptive Windowing velocity estimation in C

Perform the FOAW velocity estimation routine.

This algorithm is described here:

Janabi-Sharifi, F.; Hayward, V.; Chen, C.-S.J., "Discrete-time adaptive windowing for velocity estimation," Control Systems Technology, IEEE Transactions on , vol.8, no.6, pp.1003-1009, Nov 2000

http://www.cim.mcgill.ca/~haptic/pub/FS-VH-CSC-TCST-00.pdf

This implementation (C)2008 Stephen Sinclair, IDMIL, McGill University. This work is covered by the GPL-compatible version of the BSD license, please see the following URL for more information:

http://www.opensource.org/licenses/bsd-license.html

The exact license is listed in the file COPYING, which you should have received with this source code.

Usage

See the routine do_foaw() in the file foaw.c for an example of how to call the velocity estimation routine on a per-step basis.

The algorithm is implemented in,

float do_foaw_sample(float *posbuf, int size, int *k,
                     float current_pos, int best)

The posbuf array must be initialized to zero. k should be initialized to zero, and is a variable used by the algorithm to track the current position within posbuf. size is the maximum window size used for estimation. A value of 15 will give good results, but you'll have to experiment to see what is needed for your application. The best boolean switches between "best-fit" and "end-fit" techniques described in the paper. In general "best-fit" (best=1) gives the best results but takes an order higher in time complexity. The value of current_pos should be set to the latest position value. The output of the function is the best estimate of the current velocity.

This velocity estimation algorithm is appropriate for use whenever velocity is derived from sampled position. It provides the velocity estimate with the widest window that stays within a given noise margin. In general it will chose a small window when velocity is high and a large window when velocity is low, thus giving the best veloctiy estimate while preserving frequency response. It's particularly useful for haptic simulation (as mentioned in the paper), since this is an application area where bandwidth is of utmost importance.

The noise margin is specified by the NOISE macro defined at the top of foaw.c, and should be based the amplitude of noise observed in your position signal. The SR macro should be set to your sample rate in order to get an accurate velocity estimate.

The program deriv runs the FOAW routine on a stream of incoming ASCII-encoded floating-point values with parameters given as command-line arguments.