“…Kalman filter [65][66][67][68][69] is a widely used filtering method, it can obtain the system states or real signals by processing the input and observed signals which contains the noise. From Figures 16 (a) -(f), after the metal plate is impacted by coal gangue, the displacement, velocity, acceleration and each part of energy of the metal plate all present the fluctuating curves, which conceal some characteristics of the contact responses.…”