Kalman filtering

[Felthamg]

Hey Everyone,

Our team is currently in the heat of designing an autopilot platform and we have decided that we want to implement a kalman filter in our sensor processing.

After some research we have decided to run the kalman filter on a dsPIC. I was wondering if anyone has any kalman code/ helpful comments/ suggestions for this implementation. Keep in mind that we want to run a standard kalman filter not an extended one. Our IMU has 2 accel and 3 gyros and we are using a standard cellphone GPS.

any help would be appreciated.

thanks

[eddymoore]

A read through this thread might give you something to work with.

http://forum.sparkfun.com/viewtopic.php?t=7586&postdays=0&postorder=asc&start=0

Good luck!

[dmgoedde]

Hey Everyone,

Our team is currently in the heat of designing an autopilot platform and we have decided that we want to implement a kalman filter in our sensor processing.

After some research we have decided to run the kalman filter on a dsPIC. I was wondering if anyone has any kalman code/ helpful comments/ suggestions for this implementation. Keep in mind that we want to run a standard kalman filter not an extended one. Our IMU has 2 accel and 3 gyros and we are using a standard cellphone GPS.

any help would be appreciated.

thanksDaniel Wee might be able to give you loads of help. That sound like the same hardware (dsPIC) and sensor suite he was working on last year for Kalman IMU. It is worth a shot. His is for a commercial product development, so he may not be at liberty to assist, but again, it is worth a shot.

Dean

[Jack Crossfire]

Kalman filters have become pretty germane ever since UAV's got big in the last 2 years. The original source tends to be autopilot.sourceforge.net written in 2003. People have copied that implementation, fixed it, reposted it, recopied it. They're susceptible to explosion if there's a glitch in the sensors. U have to massage the GPS readings.