Re: [Autopilot] Kalman filters for gps and imu outputs

[Srinath M <sri...@gm...>]

Hi Tim

Just like GPS can be used to correct the position errors from the  Kalman
filtered and integrated IMU signal, what do we do about errors in angular
orientation?
I think these errors would accumulate at a slower rate, but could become
significant for a long flight.

Regards
Srinath


On Tue, Mar 24, 2009 at 11:09 PM, Tim Hutcheson <thu...@ih...> wrote:

>  Srinath
> If your IMU update rate is 150Hz and your GPS unit provides a new position
> every 5 seconds, you will be operating the Kalman filter at 150Hz, getting
> new inputs from the IMU at each interval.  Occasionally, at a 5 Hz rate, the
> new GPS reading is made available, perhaps from a separate thread in the
> code.  On that iteration, the new GPS values are simply added into the input
> data.
>
> All of these signals are incorporated into a single process, some like the
> GPS are just changing slowly.  So you are using the IMU output all of the
> time.
>
> Yes, the noise is assumed to Gaussian.
>
> Tim
>
>
>
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