Table of Contents
Noisy Signals
Books
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| Books by Steven Kay look pretty good. | optimal_estimation.pdf (best for Kalman apparently) |
Kalman Filter
Kalman filtering tutorial (Texas Robotics Club): https://www.youtube.com/watch?v=18TKA-YWhX0
Greg Czerniak's Website: http://greg.czerniak.info/guides/kalman1/
Kalman Filter For Dummies: http://bilgin.esme.org/BitsBytes/KalmanFilterforDummies.aspx
Complementary Filter
- Also known as “angle complementary filter”
filter.pdf and StackOverflow thread
- Essentially is just low-pass on accelerometer and gyro and a high-pass on gyro. Something like that…
Alpha Beta Filter
- Alpha Beta explanation (similar to PID???)
Kalman Filter
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|---|
| Great tutorial w/ nice pictures! |
Poor Man's Explanation of Kalman Filtering. AWESOMELY SIMPLE :) <added 10/11/11>still good, but got an email to take it down. Paywall now: https://www.taygeta.com/kalman_book.html- Linked from here, gives a good background: http://credentiality2.blogspot.com/2010/08/simple-kalman-filter-example.html
ECE Kid
- Was adding Kalman filtering to his quadrocopter. He said deriving the terms for the EKF was quite hard, but actual Kalman part is pretty easy.
- Kaiwen Gu
Anthony Rowe Email
These are some good Kalman filter references (the first is probably the best):
You are thinking of Nat Storer. I believe he was (maybe still is) doing the ECE minor in audio engineering. He has been doing fantastic work on the drone.