Electrical Engineering

Questions tagged [kalman-filter]

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EKF Design And System Augmentation Bearings Only Tracking

I am hoping someone can help me with some guidance or knowledge on the matter. Basically im setting up a "Bearings Only Tracking" simulation using the EKF/UKF toolbox within Matlab. I have a ...
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38 views

Differences between Adaptive Extended Kalman Filter and Extended Kalman Filter

I am developing a Simulink battery model to estimate state of health of a battery using MATLAB/Simulink. I want to use a Extended Kalman Filter for the model, but in one article I read that a Adaptive ...
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1answer
35 views

Positive Definitness of Noise Covariance Matrix in Kalman Filter

I am reading a paper on Kalman filter and trying to understand measurement noise covariance and positive definitness of the covariance matrix. It is mentioned in the paper that if the matrix is ...
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35 views

Fusion algorthm: how many DoF for the gyroscope?

The gyro data output will be fed to an Extended Kalman Filter and fused with data output from an accelerometer. my goal is to measure tilt angle over one axis. Do I need a 3 DoF gyro or will a 1 DoF ...
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51 views

how to properly integrate kalman filter in a project?

this can be a little bit complex to understand, so I ll try my best to explain and hopefully someone can answer me or guide me on this. I'm doing a time series prediction on some data that I have, ...
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2answers
144 views

Kalman filters(in simple words) [closed]

What are Kalman filters and what are their applications? Please give simple explanation. I have tried studying different links but felt hard to digest/understand
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1answer
101 views

Estimation of signal from noisy data

I am designing a PID controller for my beam steering application. I have lateral position sensor detector (PSD) PSD LINK to detect the position of beam. The problem is that the output of sensor seems ...
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1answer
426 views

Can the Kalman gain matrix contain negative values or absolute values greater than 1?

I have implemented an EKF in a power systems application. When I run a simulation in Matlab, in some iterations of the filter I get a Kalman gain matrix (K) with negative values and/or absolute values ...
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1answer
158 views

How to it is only use of kalman filter with accelerometer and magnetometer ?(LSM303C)

I have LSM303C acc and mag sensor. But my sensor is drifting. i want use kalman filter,but it usually use kalman filter with gyroscope and acc meter. İs it possible to make with acc and mag ? this ...
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119 views

Measuring pitch under dynamic acceleration: better to use 6DOF sensor or 9DOF?

I am working on a project that is challenging me. I've researched on the subject as best I can, but would like additional opinions. I have a 4' long aluminum c-channel (essentially, a metal rod) with ...
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1answer
165 views

State of charge estimation

Which is a more accurate estimation of SOC between different versions of Kalman filter vs advanced Fuel gauge ICs such as the ones from Texas Instruments (Impedance Track algorithm) or Maxim ...
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1answer
512 views

How to use output of Indirect Kalman Filter(=error state kalman filter)

I would like to measure true degree from IMU sensor by using indirect kalman filter(IKF). I can calculate error of angle and error of the bias of gyro from indirect kalman filter as attached image. ...
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222 views

Is there a better filter or a modification to the Kalman filter that could take advantage of having all the data during the trajectory at once?

I am trying to reconstruct the trajectory of an object with an strapped down IMU on board to do dead reckoning. A Kalman filter seems to be in order. But the Kalman filter seems to be oriented toward ...
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480 views

Should I be using a Standard Kalman Filter (KF) or an Extended Kalman Filter (EKF)?

So I am trying to implement a Kalman filter for an Inertial Measurement Unit (IMU) using an Arduino. I have 4 sensors: GPS Accelerometer Gyroscope Magnetometer To measure various vehicle properties ...
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1answer
153 views

Kalman filter in GPS watches [closed]

I have a simple question that I don't seem to find anywhere, do typical GPS watches only use GPS data or do they also use other sensores and fuse the information with a Kalman filter? What is usually ...
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0answers
176 views

Identifying the parameters of a linear state-space-model using Kalman Filter

I have a linear state space model (SSM) that looks like this \begin{align} {\dot {x}} & = {\rm \textbf{A}}{x} + {\rm \textbf{B}}{u} \\ {y} & = {\...
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1answer
1k views

Calibration of magnetometer for precise yaw

I'm using Sparkfun Razor IMU 9DOF sensor which incorporates accelerometer, gyroscope, and magnetometer, for giving the Euler's angles (yaw, pitch, and roll). I'm using the firmware at this link. It ...
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1answer
272 views

Can Kalman filter be used to increase sampling rate of a real-time information?

In my application, I am attempting to control the contact force of an end effector. I am getting very poor performance for two primary reasons: the feedback signal has 1) internal delay and it is ...