Questions tagged [ekf]
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9 questions
0 votes
0 answers
19 views
Baro-altimeter aiding INS
I am attempting to have a baro-altimeter aid my INS in a loosely-coupled fashion. My error state vector within my KF is in the ECI frame, as I am estimation position, velocity, attitude and INS errors....
- 1
1 vote
0 answers
28 views
How can I increase process noice to account for large changes of acceleration during my vehicles flight?
I am developing a loosely-coupled GNSS/INS with a discrete EKF navigator for a 6-DOF missile model in Simulink. Currently, my position, velocity, attitude, and bias errors are within my 3-sigma bounds ...
- 11
0 votes
1 answer
65 views
What are the hidden assumptions in "Nonlinear Estimation With Radar Observations"?
The paper "Nonlinear Estimation With Radar Observations" (Kenneth S. Miller, Donald M. Leskiw; 1982 IEEE) reports on an improved method for radar tracking with an Extended Kalman Filter (EKF)...
- 3
0 votes
0 answers
161 views
Fusing multiple IMUs in EKF framework
What is the approach to fuse multiple IMUs in EKF framework? Normally you take the IMU as the motion model and the sense step to consist of other sensors but when have multiple IMUs operating, what is ...
- 856
0 votes
0 answers
39 views
Value of EKF when fusing two estimates of the same state
I'm looking at fusing the output of two SLAM packages. In the examples code given an EKF is referenced for this fusion but I can't find the implementation. I don't understand the value of the EKF ...
- 856
1 vote
1 answer
199 views
Gyroscope Error Propagation: Why not use Euler Angles?
Looking at the EKF formulation for Gyroscopes in more depth I'm wondering, why can't we use Euler Angles in the Error State EKF framework for error and covariance propagation instead of Quaternions? ...
- 856
0 votes
1 answer
643 views
Confusion on Error State Kalman Filter reset
I have been reading about kalman filters for IMU and I am confused on the error state formulation. Reading this paper, starting on page 63 and going onto 64 the paper addresses the reset of the error ...
- 856
0 votes
1 answer
50 views
How does velocity get computed in EKF INS systems?
In GPS IMU nav systems Velocity and angular position are not explicitly measured states yet at each timestep it's necessary in order to integrate IMU information. I'm curious how is this dealt with? ...
- 856
1 vote
1 answer
277 views
IMU state estimation Covariance updating
EKF filter normally has a predict + update step, I am curious - how do you evolve the covariance of the state without one of the steps? In essence I want to evolve the state of an object using an IMU ...
- 856