2021-12-08, 02:50 AM
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/RTIMULi...4.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-fil...-pictures/
https://github.com/seandepagnier/RTIMULi...4.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-fil...-pictures/