Download - Kalman Filter 1 Early Planar IMU 14x28 mm. Kalman Filter 2 3DOF IMU - Measures Two States
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Kalman Filter 1
Early Planar IMU
14x28 mm
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Kalman Filter 2
3DOF IMU - Measures Two States
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Kalman Filter 3
Tractor Overturn
hr
s
qOP
qOP
qP
rP
rP qOP+ qP
m, JP
2O
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Kalman Filter 4
Prevent Rear Overturn
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Kalman Filter 5
s = measured signal b = zero drift or bias (function of
temp) f = scale factor (function of temp) w = Gaussian white noise s2 = variance
Sensor Uncertainty
wsfb GYRO
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Kalman Filter 6
f = 300 degps/V, 0.05 %/C° b = 1.23 V, 0.05 degps/C° Nonlinearity ±1% s = 0.035 degps/sqrt(Hz) pink noise
LSY530 gyro ±300 degps
wbfVOUT
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Kalman Filter 7
Uses state space model Position Velocity
Adaptive time domain filter Combines states Tracks variance-covariance Helps reject zero drift
Kalman Filter
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Kalman Filter 8
Kalman Filter - 2D IMU
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Kalman Filter 9
Kalman Filter - Simplified
t*
ttt*
t*
ttt*
tt
measuredtoCompare
tCompute
measuredtoCompare
t/Compute
ttimeatandMeasure
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Kalman Filter 10
Kalman Filter – Prediction
qlatitude
probability Novice navigator
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Kalman Filter 11
Kalman Filter - Measurement
qlatitude
probability Novice navigator
Experienced navigator
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Kalman Filter 12
Kalman Filter - Correction
qlatitude
probability Novice navigator
Experienced navigator
Combination
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Kalman Filter 13
Kalman Filter - Prediction
qlatitude
probability
constant speed
fixed time
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Kalman Filter 14
Kalman Filter – 2D IMU
q angle
probability
elmoddynamic
ttCORRPRED
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Kalman Filter 15
Kalman Filter
kk
kkk
1k1kk
xofcovvarPtrack
vxHztsmeasuremenonbased
wxAxstateestimate
noisesensorv
matrixdynamicsensorH
noiseprocessw
matrixdynamicstateA
estimatepriorx
k
1k
1k
matrixgainadaptiveK
vofcovvarR
wofcovvarQ
k
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Kalman Filter 16
Kalman Filter
k
kk
k
PHKIP
xHzKxx
RHPHHPK
correction
APAP
xAx
prediction
kk
kkkkk
1TTk
Tk
1kk