15k views

Given Position Measurements, How to Estimate Velocity and Acceleration

This is simple i thought, but my naive approach led to a very noisy result. I have this sample times and positions in a file named t_angle.txt: ...
27k views

Implementing a Kalman filter for position, velocity, acceleration

I've used Kalman filters for various things in the past, but I'm now interested in using one to track position, speed and acceleration in the context of tracking position for smartphone apps. It ...
7k views

Smoothing data by using Kalman filter

I would like to ask about smoothing data by using Kalman filter. Due to quantization, I have data that is not smooth. How can I smooth this data by using Kalman Filter. For your information, the data ...
3k views

Kalman Filter to estimate 3D position of a node

Code given on this link works for 1D: Kalman filter for position and velocity: introducing speed estimates In my problem I need to estimate 3D position.What is the criteria ? How F, G ,H,Q and R ...
3k views

Kalman Filter - Velocity [Matlab]

I have a quite typical Kalman filter to design. I really read a lot of articles about the design of this filter but the performances of my filter are still quite bad. Here is my situation. I have a ...
2k views

Q matrix and updating times in a Kalman filter

The context of the problem is that I have several robots located remotely which give their position (x,y coordinates) every x seconds and send it to a centralized remote server. The value of the ...
795 views

Kalman filter, defining the measurement model

I would like to implement a Kalman filter to estimate the velocity and position of an object. I have an accelerometer, therefore the acceleration is known. The approach is same as: Kalman filter for ...
996 views

Even more on: Kalman filter for position and velocity

As a follow-on to this great question... I'm trying to implement the model in the referenced article (and referenced Wikipedia article), but I'm not getting the results I think I should be getting. ...
467 views

Anybody with experience with online double integration of acceleration?

I've found good literature for offline proccesses, and I've gotten good results. However, when it comes to online applications, I've found nothing good. Applying any filter without a linear phase ...
568 views

Tracking 2D positioning with IMU Sensor

I am using a miniature car and I want to estimate the position. We can not use GPS modules and most of the tracking systems that I saw, are using IMU sensor with the GPS module. In our car we are able ...
407 views

Multiple cheap IMUs vs one expensive IMUs

In my project, there is a possibility of either buying one expensive IMU or 5 cheaper IMUs. They have to be cheaper due to budget limitations, and the idea is to use them in order to be able to do "...
285 views

'Best fit' motion curve for an unachievable profile

I have a discrete function that represents a 1d position in space over time. I have a motion system that would like to achieve this curve, but, due to constraints on jerk (3rd derivative) and ...
280 views

Is acceleration noise modelled differently in EKF and UKF Kalman Filters?

In a lecture on basic Kalman filter, I came across the following assumption about acceleration noise. Every component of the noise vector $\nu$ is itself a product of time and acceleration values. ...
241 views

New to DSP and having trouble filtering data

I am trying to make program in matlab that counts the number of times the accelerometer was lifted up and down (a rep counter for exercise). Basically my phone is getting accelerometer data on all ...
390 views

Extended kalman filter for accelerometer data on shaking table

I am using an accelerometer to record the motion of a shake table (a rocking table) which moves forward and backward in one direction. The signal is very noisy and decided to use Extended Kalman ...

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