Thread Tools
This thread is privately moderated by Jack Crossfire, who may elect to delete unwanted replies.
Dec 31, 2007, 03:47 AM
Registered User
Jack Crossfire's Avatar
Thread OP
Discussion

Least squares terrorism


So the next best thing to a Kalman filter is a least squares approximation of all IMU results. Instead of averaging 99 gyro steps + 1 accel result, you feed 99 gyro steps and 1 accelerometer result to the least squares equation and it spits out the best estimate of the true current state.

BTW, Gumstix showed the 600Mhz board in stock for the first time since it went on sale a year ago.
Sign up now
to remove ads between posts
Dec 31, 2007, 01:05 PM
Chris Anderson
Jack,

That's great news for us who still can't wrap our heads around Kalmans. Have you tried it? I'd like to use something like that on a very stable fixed wing platform, and my autopilot hardware doesn't have floating point, so something mathematically simple is very appealing..
Last edited by zlite; Dec 31, 2007 at 01:16 PM.
Dec 31, 2007, 02:23 PM
Chris Anderson
PS--got a link to the equation or algorithm?
Dec 31, 2007, 05:32 PM
Registered User
Jack Crossfire's Avatar
Thread OP
The work already on vicacopter.com should be good enough for fixed wings. The relevant subroutine is process_ins.
Jan 01, 2008, 01:35 AM
Chris Anderson
Thanks! I hadn't seen that site. Great that you've got the source up and at first pass it looks very impressive.

For those looking for that subroutine, it's in the arm_ins.c file.


Quick Reply
Message:
Thread Tools