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+--- Thread: What even is a Kalman filter? (/showthread.php?tid=3798)
What even is a Kalman filter? - CapnKernel - 2021-12-08
If you've looked at the logs of your RPi running PyPilot, you've probably seen messages from the IMU code on startup about a "Kalman filter". Link to code:
https://github.com/seandepagnier/RTIMULib2/blob/master/RTIMULib/RTFusionKalman4.cpp#L125
But what is a Kalman filter, and why use it?
In PyPilot, it's used to "denoise" the inputs from the IMU. And as for the "what", here's a good article I found.
https://www.bzarg.com/p/how-a-kalman-filter-works-in-pictures/