Sikh Robotics
  • 1. Orientation
    • 1. Sensor Calibration
      • Accelerometer
      • Magnetometer
      • Gyroscope
    • 2. Angles & Rotations
      • Euler Angles
      • Rotations
    • 3. Quaternion Basics
      • Quaternion Fundamentals
      • Quaternion Properties
      • Quaternion Arithmetic
    • 4. Quaternion Rotations
      • Euler-Quaternion Conversions
      • Quaternion Rotations
    • 5. Extended Kalman Filter
      • EKF Overview
      • System Dynamics Model
      • Explanation
      • Error Correction
      • Implementation
  • 2. Odometry
  • 3. PCB Design
    • 0. Requirements
    • 1. System Conceptualization
      • System Overview
      • Power Flow Diagram
      • Pinout Spreadsheet
    • 2. Schematic Layout
      • Component Selection
      • PCB Library
      • Layout Design
      • Transfer to PCB
    • 3. PCB Layout
      • PCB Shape
      • Component Placement
      • Routing Traces
      • DRC Check
      • Gerber Files

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Sikh Robotics > Orientation > Extended Kalman Filter

Part 5

Extended Kalman Filter

Sources
  1. Quaternion kinematics for the error-state Kalman filter, Joan Sola
  2. Extended Kalman Filter for Robust UAV Attitude Estimation, Martin Pettersson
  3. Extended Kalman Filter Implementation, The Poor Engineer
  4. Adaptive Adjustment of Noise Covariance in Kalman Filter for Dynamic State Estimation,Shahrokh Akhlaghi, Ning Zhou, Zhenyu Huang
  5. Pose estimation by extended Kalman filter using noise covariance matrices based on sensor output, Ayuko Saito, Satoru Kizawa, & others