> Todd: did you autopilot use kalman filtering at all, or anything
Hey Ben. The Kalman code for the IMU has been the biggest challenge
for me as of yet. I am exploring other means with which to accomplish
the integration of the angle rate into body transform data (i.e. PID,
Unscented KF, Extended KF, Sigma-Point PKF, etc.), to filter the noise
from the MEMS gyros, and to integrate other information sources into
the attitude/vector/rate algorithms. None of it is easy, and has
temporarily taken the wind out of my sails - hence my tabling it for a
bit and working on another project related to Coridium's ARMbasic
products. Some say ignorance is bliss - I say "BS!" I hate not
possessing the mathmatical aptitudes required to implement what it is
I am needing implemented...
It is my intention, when I get done with what I am currently working
on, to delve back into it, roll up the sleves and see if I can't push
through the challenges.
I am planning on trying to make use of the martix math capabilities
that Cam's uM-FPU provides. If I had a stronger math background, or
could enlist the support of someone who does, then getting over the
hill might be somewhat easier.
(Projecting some skepticism here:) I am also keeping an eye out for a
good, and inexpensive, COTS solution for an IMU...
If you come up with something, please do not hesitate to post it to
the group. I'll do the same.
Questions about the BASICtools and MakeItC
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