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afry-south / dragonfly-fcb

ÅF Dragonfly Quadrotor UAV Project
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Kalman estimation: Approximate sensor noise variance and offset #18

Open stenbergd opened 9 years ago

stenbergd commented 9 years ago

To improve the Kalman filter algorithms for estimation of:

the variances and offsets of the sensors play a great part. Read up on how they affect the linear Kalman algorithm.

Either calculate the values or look in datasheet of the sensors.

stenbergd commented 9 years ago

Two very similar suggestions on fusing gyroscope and accelerometer (we may use magnetometer instead for correction?) in a Kalman filter:

http://www.linushelgesson.se/2012/04/pitch-and-roll-estimating-kalman-filter-for-stabilizing-quadrocopters/

http://se.mouser.com/applications/sensor_solutions_mems/

Perhaps a suitable algorithm to start with before more advanced sensor fusion and EKF.

stenbergd commented 9 years ago

Use magnetometer to get attitude corrections? Roll/Pitch estimation: Gyroscope and Magnetometer/Accelerometer Yaw rate estimation: Gyroscope and Magnetometer Vertical velocity estimation: Accelerometer and barometer(altimeter)