Speed estimation systems

A method for estimating rotational speed of a system, comprising:

• receiving vibrational data from a sensor;
• estimating a speed from the vibrational data to create estimated speed data;
• and
• filtering the estimated speed data through an adaptively weighted filter to minimize incorrect speed estimation, wherein filtering the estimated speed data through the adaptively weighted filter includes filtering the estimated speed data through a Kalman filter having an adaptive weight,
• wherein filtering the estimated speed data through the Kalman filter having an adaptive weight includes:
• filtering the estimated speed data through the Kalman filter which includes a Kalman gain Kk, wherein
• K
• k
• =
• P
• k
• -
• P
• k
• -
• +
• wR
• ,
• wherein P− is an a priori prediction error covariance, R is a covariance matrix of measurement noises, and w is the adaptive weight;
• and
• using a test statistic to measure the deviation of current estimation from previous estimations to enforce continuity in time domain, wherein using the test statistic includes determining errors between speed estimation and at least one of a speed prediction, a standard score, or a Mahalanobis distance to determine an estimation correctness and to modify the adaptive weight w if incorrect estimation is determined.