"All those STM gyros (at least all the previous ones were and I haven't yet heard otherwise of the new ones) are not designed for use in high-vibration areas. Their internal resonance frequency is way too low and such the vibration of your…"
Haldir's Page
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Haldir commented on Chris Anderson's blog post InvenSense releases IMU software for Android"Heh, I didn't know David Sachs works for InvenSense. He wrote one of the few publically available sr-ukf implementations."
Haldir replied to Noland's discussion Realtime DGPS with ublox and GPSTk lib processing, relative <1m?"According to http://www.kowoma.de/gpsforum/viewtopic.php?f=1&t=2089&start=15#p11604 the Skytraq S1315F has an optional firmware with up to 20Hz RAW, It's one of the supported chipsets in rtklib
Honestly I think that pretty much every…"
Haldir replied to Noland's discussion Realtime DGPS with ublox and GPSTk lib processing, relative <1m?"I think for <1m accuracy, the proper way to go is PPP GPS, precise-point-positioning GPS. Most of the published algorithms work with only one GPS receiver, you just need certain (more or less) realtime data from fixed stations for corrections.…"
Haldir replied to Steven Chang's discussion CPU vs microcontroller? Do I need both"You might want to first make sure both you and your supervisor have the same definition of microcontrollers and cpu.
Most microcontrollers you use have a cpu core, only a few only have a dsp core and some have both.
The common term is: mcu = cpu +…"
Haldir replied to Carson Au's discussion dealing with multiple rotations --> IMU & Kalman filter"You'll need to rewrite your filter using quaternions, that should solve your problem. You also might want to read into gimbal lock."
Haldir replied to Andy Gongora's discussion Quad vs Hexa vs Octo -copter. (Radial and coaxial) Advantages-Disadvantages?"Yes, my less flight time is based on the assumptions of same/similar batteries.
Keep in mind that there are some legal limits to the weight of such a copter in certain countries. Some countries have limits of 1kg (like flying without insurance,…"
Haldir replied to Andy Gongora's discussion Quad vs Hexa vs Octo -copter. (Radial and coaxial) Advantages-Disadvantages?"Hexa/Octacopter:
+ more payload
+ one/two motors can fail without a fatal crash
- more expensive
- shorter flight time
Special disadvantage for the coaxial copters: more dangerous for fingers because of the props below the frame"
Haldir commented on Michael Abraham's blog post UPAHD -Universal Position Altitude Hold Device Wanted"It's unfortunately not that easy, there are several problems to tackle for that:
1. Your Conrad Quadrocopter is not really a documented platform (there is some documentation about the control system but not nearly enough)
2. For that GPS P-Hold…"
Haldir commented on Haldir's blog post Request for help benchmarking some kalman filter code on embedded platforms"Many ins/gps models do not model the MEMS sensor errors that much, usually it is just bias + random noise, many consider the bias to be constant for the time of flight, after an initial calibration. Most MEMS Sensors behave badly if the temperature…"
Haldir commented on Haldir's blog post Request for help benchmarking some kalman filter code on embedded platforms"Actually most MEMS sensors have highly non-linear errors, starting with several types random noise to non-linear bias errors.
In http://www.mdpi.org/sensors/papers/s8042240.pdf is a quite thorough look into the error modelling of mems sensors.
The…"
Tom Yochum commented on Haldir's blog post Request for help benchmarking some kalman filter code on embedded platforms"Is it the sensors that are non-linear, or the system we are modeling? I am under the impression that most of the gyros and accelerometers are very linear in their operating ranges. It is the system model that is non-linear.
Is the Open Pilot task…"
Haldir commented on Haldir's blog post Request for help benchmarking some kalman filter code on embedded platforms"Actually as far as I know the EKF is the standard for higher priced sensor fusion for several years now.A typical A fixed-point EKF with 3 states can be easily run on any mcu for years now.
Anyway, linear Kalman Filters are just fine if you have…"
Tom Yochum commented on Haldir's blog post Request for help benchmarking some kalman filter code on embedded platforms"Haldir,
I have followed the conversations about sigma point and extended Kalman filters over at the Open Pilot forums with much interest. It is quite clear that you and several others (Lew Payne, for example) are very knowledgeable about the…"
Haldir posted a blog postRequest for help benchmarking some kalman filter code on embedded platforms
On the openpilot forum I started a discussion http://forums.openpilot.org/topic/1043-sigma-point-kalman-filters/ about the right Sigma Point Kalman Filter for sensor fusion.After reviewing a few papers and implementing a few SPKF in matlab, I decided to port the Schmidt Orthogonal Sigma Point Kalman Filter to C++ using the Eigen lib. The code is attached below. It's using the 3.0b1 Eigen library.The code is…See More
Haldir commented on Lew Payne's blog post STMicro IMU Development Platform"As for (multi)-rotor based UAV, you might run into problems with the internal resonance frequency of the gyros, it's too low and results in quite a bit of noise in your data. As usual they don't give the frequency in their datasheets."
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Request for help benchmarking some kalman filter code on embedded platforms
Posted on July 11, 2010 at 11:59pm 5 Comments 0 Likes
On the openpilot forum I started a discussion http://forums.openpilot.org/topic/1043-sigma-point-kalman-filters/ about the right Sigma Point Kalman Filter for sensor fusion.
After reviewing a few papers and implementing a few SPKF in matlab, I decided to port the Schmidt Orthogonal Sigma Point Kalman Filter to C++ using the Eigen lib. The code is attached below. It's using the 3.0b1 Eigen library.
The code… Continue
After reviewing a few papers and implementing a few SPKF in matlab, I decided to port the Schmidt Orthogonal Sigma Point Kalman Filter to C++ using the Eigen lib. The code is attached below. It's using the 3.0b1 Eigen library.
The code… Continue
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