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[DPRG] Simple EKF example in 2D
Subject: [DPRG] Simple EKF example in 2D
From: David
dpa at io.isem.smu.edu
Date: Sun Dec 2 12:25:27 CST 2007
Howdy,
Here's is another simple example of a Kalman filter, this one
written by Trammel Hudson of the sourceforge autopilot
project to combine an accelerometer and a gyroscope into
a single angle sensor, like for use on a two wheel balancing
robot.
Ron Grant has actually implemented this code on his two
wheel robot "Tip." The code is heavily documented and I
think Trammel meant it as a useful piece of code and also
as a tutorial on Kalman filters.
It consists of two files, "tilt.h" and "tilt.c" which I've uploaded
to the geology department web server at:
<http://geology.heroy.smu.edu/~dpa-www/robo/doc/t_hudson/tilt.h>
and
<http://geology.heroy.smu.edu/~dpa-www/robo/doc/t_hudson/tilt.c>
Hope this is useful,
dpa
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