Society of Robots - Robot Forum

Software => Software => Topic started by: robotickalman on September 28, 2010, 03:52:52 PM

Title: question regarding kalman filtering of IMU data paper by yadlin
Post by: robotickalman on September 28, 2010, 03:52:52 PM

for the past few weeks ive been reading up on the theory and operation of the kalman filter. one paper ive read that is extremely good can be found at http://www.usafa.edu/df/dfas/Papers/20082009/Attitude%20Determination%20and%20Bias%20Estimation%20Using%20Kalman%20Filtering%20-%20Yadlin.pdf (http://www.usafa.edu/df/dfas/Papers/20082009/Attitude%20Determination%20and%20Bias%20Estimation%20Using%20Kalman%20Filtering%20-%20Yadlin.pdf)

it discusses the know-how needed to implement attitude estimation using kalman filtering. im absolutely stumped as of now and im hoping that some of you guys can help me out.
 1. he uses an angular momentum term but did not say how he found it
 2. i did not understand how his F matrix was derived

i know that im being a bit unreasonable asking these questions but i believe that you guys possess the knowledge (and the generosity) to sort these problems out. thank you

Title: Re: question regarding kalman filtering of IMU data paper by yadlin
Post by: waltr on September 28, 2010, 05:00:01 PM

There has been a few detailed discussions on implementing Kalman filters over on the SparkFun forum. Maybe the answer is there.