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juangallostra / AltitudeEstimation

A two-step Kalman/Complementary filter for Estimation of Vertical Position using an IMU-Barometer sytem
MIT License
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Include rangefinder in the estimation #10

Closed juangallostra closed 6 years ago

juangallostra commented 6 years ago

A possible approach: Start by simply substituting the rangefinder for the baro, then see whether all three (rangefinder, baro, accel) could be incorporated. One thing worth looking into is the AGL (Above Ground Level) versus ASL (Above Sea Level) issue. An optimal solution would probably compute ASL, and would have some conditional like "If rangefinder reading changes suddenly (faster than some threshold) while baro remains constant (or gradual), vehicle is above a ground obstacle, and ASL is unchanged"

juangallostra commented 6 years ago

A possible approach would be to place the rangefinder looking upwards. This way obstacles do not affect the measurements. Think about it.

simondlevy commented 6 years ago

Clever idea -- but how about going through doorways? ;^)

juangallostra commented 6 years ago

I am switching to another approach in order to perform altitude estimation. So far it looks more promising: https://github.com/juangallostra/Range-Baro-AltitudeEstimation.

Closing the issue since I don't think I will work anymore on this.