help needed - Kalman filter understanding

[jshroff]

Hello all,

I have a small RC motorcycle that I would like to learn how to balance using a servo to steer and a Gyro & Accelerometer as sensor.

http://cvs.sourceforge.net/viewcvs.py/autopilot/onboard/rev2/ this link shows a Kalman filter implementation, but although I tried following the code I am having a hard time. Can anyone explain what's going on?

Thanks

 

[brmadhukar]

What exactly you do not understand about KF? PM me. However I shall be very late in answering any queries.brmadhukar

 

[ronyutp]

There are several good tutorials about it in this sites:


**broken link removed**

http://www.cs.unc.edu/~welch/kalman/

http://www.cs.unc.edu/~welch/kalman/kftool/

 

[edajack]

Kalman filters are usually used to estimate the 'states' of a system.
The states of a system are defined as the information needed to predict the future response of the system given the future inputs. Many times it is not possible or too expensive to measure all of the system states, or they are corrupted by noise.

Hence they must be estimated. The kalman filter is an optimal estimator, which uses the measured outputs, and process inputs to estimate the states. IT is useful because it allows a recursive solution.