Answered

Solving steady state Kalman riccati equation

Just write out the equations. If it's 2x2 it shouldn't be too hard. Q and R are almost always diagonal. P is symmetric, so thes...

Solving steady state Kalman riccati equation

Just write out the equations. If it's 2x2 it shouldn't be too hard. Q and R are almost always diagonal. P is symmetric, so thes...

10 years ago | 0

Answered

Extended Kalman Filter converges to wrong values (super simple model)

You have a constant dt used in the filter, but the simulation is variable step. This will cause problems with your predictor. ...

Extended Kalman Filter converges to wrong values (super simple model)

You have a constant dt used in the filter, but the simulation is variable step. This will cause problems with your predictor. ...

10 years ago | 0

| accepted

Answered

Quadcopter PID Controller Implementation - Derivative Filter

Apply your derivative gain to the angle rate error and the proportional gain to the angle error. Angle rate error would be (des...

Quadcopter PID Controller Implementation - Derivative Filter

Apply your derivative gain to the angle rate error and the proportional gain to the angle error. Angle rate error would be (des...

10 years ago | 0

Answered

Can't see variables in workspace when run from a function

I see where you are calling the other functions, but you are ignoring the return variables. Is that the problem? What specific...

Can't see variables in workspace when run from a function

I see where you are calling the other functions, but you are ignoring the return variables. Is that the problem? What specific...

10 years ago | 0

Answered

"Hold on" function doesn't work when use set function to dynamically plot data

Try set(hp1, 'XData', [get(hp1, 'Xdata'); k], 'YData', [get(hp1,'Ydata'); c1(k,1)]);

"Hold on" function doesn't work when use set function to dynamically plot data

Try set(hp1, 'XData', [get(hp1, 'Xdata'); k], 'YData', [get(hp1,'Ydata'); c1(k,1)]);

10 years ago | 1

Answered

Filtering of data in simulink

A simple low pass filter (for scalar inputs - easily modified for vectors) is y(i) = (alpha)* y(i-1) + (1-alpha)*x(i); ...

Filtering of data in simulink

A simple low pass filter (for scalar inputs - easily modified for vectors) is y(i) = (alpha)* y(i-1) + (1-alpha)*x(i); ...

10 years ago | 0

Question

Indexing multiple values of an array of structures with a field that varies in length

I have an array of structures, A. Each structure has a field 'vec'. Each 'vec' is a vector, but the length of the vector can v...

10 years ago | 1 answer | 0

Answered

How to design LQG controller for optimal trajectory

y is obviously of dimension 3. Which element of y do you want to see? Just pick it out with a demux or bus selector.

How to design LQG controller for optimal trajectory

y is obviously of dimension 3. Which element of y do you want to see? Just pick it out with a demux or bus selector.

10 years ago | 0

Answered

Process Noise “Q” covarience matrix in a kalman filter

The measurement error is not used to update any covariance matrices in a Kalman filter.

Process Noise “Q” covarience matrix in a kalman filter

The measurement error is not used to update any covariance matrices in a Kalman filter.

10 years ago | 0

Answered

Kalman Filter block that allows computing state transition matrix each time?

Why don't you write your own Kalman filter in an Mfile and simulation time as an input. You can determine the elapsed time in th...

Kalman Filter block that allows computing state transition matrix each time?

Why don't you write your own Kalman filter in an Mfile and simulation time as an input. You can determine the elapsed time in th...

10 years ago | 0

Answered

Kalman Filter acceleration Integration

Accelerometers are notoriously noisy and also drift with temperature and age. The error in your estimate of position will grow o...

Kalman Filter acceleration Integration

Accelerometers are notoriously noisy and also drift with temperature and age. The error in your estimate of position will grow o...

10 years ago | 0

| accepted

Answered

Kalman FIlter to obtain pitch angle

You could use accelerometer data to measure pitch. Or you could estimate q and q bias with a Kalman filter, but then you still ...

Kalman FIlter to obtain pitch angle

You could use accelerometer data to measure pitch. Or you could estimate q and q bias with a Kalman filter, but then you still ...

10 years ago | 0

Answered

Finding out Q and R matrices of a given system.

R and Q are the plant and sensor uncertainty covariance. I can't tell from your code which is which. You can start with an initi...

Finding out Q and R matrices of a given system.

R and Q are the plant and sensor uncertainty covariance. I can't tell from your code which is which. You can start with an initi...

10 years ago | 0

Answered

How do you apply Kalman filter to a non-linear system

Use Extended Kalman filter. For predict equations, leave it non-linear. Use linearized equations for calculating K and updating ...

How do you apply Kalman filter to a non-linear system

Use Extended Kalman filter. For predict equations, leave it non-linear. Use linearized equations for calculating K and updating ...

10 years ago | 0

Answered

How to remove noise and drift from an acceleration data acquired from an accelerometer?

The predict state could be a_predict = a_last a_bias = a_bias That is, no change predicted. The measurement can b...

How to remove noise and drift from an acceleration data acquired from an accelerometer?

The predict state could be a_predict = a_last a_bias = a_bias That is, no change predicted. The measurement can b...

10 years ago | 0

Answered

Kalman Filter Varying dT and consequences

The conditions of stability for a Kalman filter is that the system is stochastically observable and controllable. So non-consta...

Kalman Filter Varying dT and consequences

The conditions of stability for a Kalman filter is that the system is stochastically observable and controllable. So non-consta...

10 years ago | 0

| accepted

Answered

Extended Kalman Filter Jacobian

I would suggest you do the coordinate conversions outside of the EKF equations. Can you stay in a local coordinate frame within ...

Extended Kalman Filter Jacobian

I would suggest you do the coordinate conversions outside of the EKF equations. Can you stay in a local coordinate frame within ...

10 years ago | 0

| accepted

Answered

Kalman filter's fusion technique

Yes, you are doing it correctly. There is no theoretical restrictions for the number of sensors or for what they are sensing. ...

Kalman filter's fusion technique

Yes, you are doing it correctly. There is no theoretical restrictions for the number of sensors or for what they are sensing. ...

10 years ago | 1

| accepted

Answered

need helps about Kalman filter

The Kalman gain is not a function of the states. It is only a function of the covariances and the model of the system and measur...

need helps about Kalman filter

The Kalman gain is not a function of the states. It is only a function of the covariances and the model of the system and measur...

10 years ago | 0

Answered

kalman filter

So many dependencies. Processor speed, data type (i.e. integer, fp, double?), number of states, number of measurements, does it ...

kalman filter

So many dependencies. Processor speed, data type (i.e. integer, fp, double?), number of states, number of measurements, does it ...

10 years ago | 0

Answered

Kalman Filter in matlab

You are using +u in the prediction equation but not in the "actual" equation. Could this be your error?

Kalman Filter in matlab

You are using +u in the prediction equation but not in the "actual" equation. Could this be your error?

10 years ago | 0

Answered

Using Kalman Filter to smooth data?

The Kalman filter can and is used to smooth data when the covariance values are set to do so. As far as smoothing goes, there is...

Using Kalman Filter to smooth data?

The Kalman filter can and is used to smooth data when the covariance values are set to do so. As far as smoothing goes, there is...

10 years ago | 0

Answered

Implementing a Kalman Filter with multiple input sensors

You can keep the same size H matrix, just zero out the rows for which there is no measurement.

Implementing a Kalman Filter with multiple input sensors

You can keep the same size H matrix, just zero out the rows for which there is no measurement.

10 years ago | 0

Answered

How long have you been using matlab? tell us your story

I was introduced to Matlab by Herm Schutten way back in 1988 while just starting graduate school. I quickly grew to love it. A ...

How long have you been using matlab? tell us your story

I was introduced to Matlab by Herm Schutten way back in 1988 while just starting graduate school. I quickly grew to love it. A ...

10 years ago | 1

Answered

I plotted a curve by putting 3 loops in it.I got the plot but while trying to take the out put to the excel sheet am getting only the random values.How to solve this issue

use fprintf or diary

I plotted a curve by putting 3 loops in it.I got the plot but while trying to take the out put to the excel sheet am getting only the random values.How to solve this issue

use fprintf or diary

11 years ago | 0

Answered

Time-varying parameter Kalman filter

If your equations are linear then you can use the regular Kalman filter equations. Just put time (or delta time) where you need ...

Time-varying parameter Kalman filter

If your equations are linear then you can use the regular Kalman filter equations. Just put time (or delta time) where you need ...

11 years ago | 0

Answered

How can i write this equation in matlab ??????

The trick is to update v(i-1,j) and v(i,j-1) without updating v(i+1,j) and v(i,j+1) before going on the v(i,j). After that do: ...

How can i write this equation in matlab ??????

The trick is to update v(i-1,j) and v(i,j-1) without updating v(i+1,j) and v(i,j+1) before going on the v(i,j). After that do: ...

11 years ago | 1

Answered

How can I control the direction of the servo motor in simulink?

Make a model of the car, motor, servo, sensors, whatever. First try running open loop -- without any feedback. Once that is work...

How can I control the direction of the servo motor in simulink?

Make a model of the car, motor, servo, sensors, whatever. First try running open loop -- without any feedback. Once that is work...

11 years ago | 1

Answered

Change the zero angle of the atan2() or similar

Add an offset to the angle. Let the offset be the starting angle.

Change the zero angle of the atan2() or similar

Add an offset to the angle. Let the offset be the starting angle.

11 years ago | 0