Real time angular velocity measure using median filter

Abstract

We present a simple approach to reduce the noise present in velocity measurements when using encoders. The approach is to use the median filter together with a simple first order linear filter and show that this combination avoids the errors due to warp of the encoder (when the angle goes from 2π back to 0 of vice versa). We test this new method and compare with different kinds of filters and algorithms to avoid the warp problem. We show that the proposed method can be implemented only with simple arithmetic and is perfectly suitable for embedded and hardware implementation.