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May 25, 2008, 03:23 AM
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Adaptive non-linear washout filter fodder

With gas now over $4.20, thinking more about ways to use the golf course instead of the park. Anything would have to be silent & invisible.

What we need is a flight box on wheels suitable for rough terrain. It would store a lead acid battery & laptop.

After reviewing GATech's T-Rex videos, have concluded the flight dynamics model probably has more mileage as an alternative to carrier phase GPS. Now playing with 2 ideas but no plan. 1 is to apply the barometer to the existing model.

The other is again shrinking the adaptive part by making more assumptions in the fixed part. The next frontier is the adaptive washout filter.

With the washout filter, angle of attack goes in & velocity change comes out, letting U model short periods of navigation without GPS. It needs a bandwidth & gain which change depending on payload & weather.

The neural network should have automatically developed a washout filter, but it didn't because we solved it the wrong way. To save clockcycles, it didn't take its own output as an input. Training it the right way would require filtering a bunch of past data points for 1 back propagation.

If it uses 30 sec of past data for each back propagation, that's 30*25=750 solutions. If it takes 7500 back propagations to learn how to fly, that's 5,625,000 solutions. If the Gumstix only does 15,000 solutions/sec, that's 6 minutes of flying to learn how to fly.

Definitely could not train a washout filter in flight.

Have our levitation portfolio.

Magnetic levitator compilation (3 min 47 sec)
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