Рет қаралды 14,227
Implementing a discrete-time Kalman filter (steady-state). A bit of theory and a practical demonstration. Uses the Arduino software. Acknowledgement to random nerd tutorials too. Measures pitch angle and will be suitable for some balancing projects such as a Segway or Quad copters. Uses sensor fusion of accelerometer and gyro readings. The steady state Kalman filter is implemented in closed-loop form and in state-space format. The relationship to a Wiener estimator I will show in more detail later. This requires a transfer function matrix but is not used here.