## Object Tracking using kalman filter

Started by in comp.dsp8 years ago 5 replies

Hey guys im trying to track an object using kalman filter. I wanted to ask that how can we interface a stepper motor with the kalman filter?...

Hey guys im trying to track an object using kalman filter. I wanted to ask that how can we interface a stepper motor with the kalman filter? (the motor is connected with the camera to control its movement). Also how can we calculate measurement and process error matrices in kalman filter? thnx.

## What are Kalman filters for ?

Started by in comp.dsp14 years ago 5 replies

Hi, can anybody explain what Kalman filters are for ? Where can I use them ? What is the benefit of a Kalman filter ? Are there any...

Hi, can anybody explain what Kalman filters are for ? Where can I use them ? What is the benefit of a Kalman filter ? Are there any disadvantages ? Thanks in advance Oliver

## Tracking an object using kalman filter

Started by in comp.dsp14 years ago 3 replies

Hi there, I 'm totally new to kalman filter, if not for my final year project, I won't come to know about kalman filter. My final year...

Hi there, I 'm totally new to kalman filter, if not for my final year project, I won't come to know about kalman filter. My final year project is to use a webcam to track a moving object and I 'm have to implement kalman filter. I have read about kalman filter and have some understanding but don't know how to implement it to my project.Any matlab example that show the basic,like linear k...

## What is the state number of a Kalman filter

Started by in comp.dsp7 years ago 6 replies

Hi, I read an article on Kalman filter implementation. It said: "For a 4-state Kalman filter, all the Kalman filter equations can be expressed as...

Hi, I read an article on Kalman filter implementation. It said: "For a 4-state Kalman filter, all the Kalman filter equations can be expressed as 30 scalar equations....." I know a Kalman filter has (1) Process equation: x(n+1)=A*x(n)+w(n) (2) Measurement equation: s(n)=B*x(n)+v(n) My question again here is: Where does "4-state" come from the above equations? Thanks,

## Kalman filter

Started by in comp.dsp12 years ago 2 replies

The tranditional Kalman filter equation is as follows: x(n)=F x(n-1)+w(n) y(n)=H x(n)+v(n) And x(n) is called "state". If there are two...

The tranditional Kalman filter equation is as follows: x(n)=F x(n-1)+w(n) y(n)=H x(n)+v(n) And x(n) is called "state". If there are two states, x1(n) and x2(n), x1(n)=F1 x1(n-1)+w1(n) x2(n)=F2 x2(n-1)+w2(n) y(n)=H1 x1(n)+H2 x2(n)+v(n) Is it still the Kalman filter? How to make estimation? Or can you refer me some papers? Thanks.

## Joint Kalman Filter vs. Dual Kalman Filter

Started by in comp.dsp5 years ago 1 reply

Hello all, Could you please help me to evaluate the advantages and disadvantages of Joint Kalman Filter and Dual Kalman Filter, and a comparison of the two methods. Thank you very much, Anh Tuan.

Started by in comp.dsp13 years ago 3 replies

I understand that in Kalman filtering, the minimum variance estimator can be found by orthogonal projection of X(k) on the space spanned by...

I understand that in Kalman filtering, the minimum variance estimator can be found by orthogonal projection of X(k) on the space spanned by linear combinations of observations Y(0), Y(1),...Y(k). However I went to a seminar and one of the speaker ws saying that Kalman filter implicitly weights the more recent value greater than the past values i.e. the weights associating to an observation...

## Accelerometer and Kalman Filter

Started by in comp.dsp11 years ago 28 replies

I have accelerations measurement from an accelerometer and i want to use kalman filter to estimate and remove the bias so that when i find...

I have accelerations measurement from an accelerometer and i want to use kalman filter to estimate and remove the bias so that when i find the position by integrating twice its not crap. How would i model the kalman filter especially A, B, Q, R, & H. Any help would be appreciated. thanks arvkr

## kalman filter

Started by in comp.dsp11 years ago 3 replies

Hi, i want to know ,how kalman filter is useful in channel estimation of MIMO-OFDM system.what key property of kalman filter helps...

Hi, i want to know ,how kalman filter is useful in channel estimation of MIMO-OFDM system.what key property of kalman filter helps in estimation.kindly reply soon. smriti singh,

## Kalman Filter and INS

Started by in comp.dsp11 years ago 15 replies

Here is what i have, a measurement of a distance from an external sensor at a lower sampling rate and acceleration measurements from accelerometer...

Here is what i have, a measurement of a distance from an external sensor at a lower sampling rate and acceleration measurements from accelerometer ( IMU at a higher rate). How can i use a kalman filter to fuse these to produce a good estimate of the position travelled. What would be A, B, H, R, Q if i were to use a kalman filter. Any help will be appreciated.

## speech enhancement using Kalman-- help with segmentation

Started by in comp.dsp12 years ago 1 reply

Hi Group! I am new to the net. Hope I dont disappoint U with naive questions. Well, a couple of papers I have gon thru on enhancing speech using...

Hi Group! I am new to the net. Hope I dont disappoint U with naive questions. Well, a couple of papers I have gon thru on enhancing speech using Kalman filters. I understand Kalman filtering, no problem with that. The problems actually are: 1). Why the stationary assumed frames being windowed non-rectangularly before extracting AR parameters? 2). Furtermore, the segments are being overlapped! Wh...

## Original Kalman Filter Paper

Started by in comp.dsp15 years ago 2 replies

Does anyone have a copy of the original Kalman filter paper? "New Results in Linear Filtering and Prediction Theory." R.E. Kalman and R.S...

Does anyone have a copy of the original Kalman filter paper? "New Results in Linear Filtering and Prediction Theory." R.E. Kalman and R.S Bucy thanks, Susheem

## GPS/INS integration using kalman filter

Started by in comp.dsp10 years ago 2 replies

Hi I like to integrate GPS and INS using kalman filter to predict the position of a vehicle. first of all i like to use GPS sensor readings...

Hi I like to integrate GPS and INS using kalman filter to predict the position of a vehicle. first of all i like to use GPS sensor readings with kalman filter . I have read lot of research papers for that purpose but I donot know how to use real time data of GPS sensor in the kalman filter measurement equation. My question is that where i have to put the readings from the gps sensor in m...

## Kalman filter book and practical use?

Started by in comp.dsp14 years ago 2 replies

How important is it to understand all underlying theory behind Kalman filtering to actually be able to practically implement a Kalman filter in...

How important is it to understand all underlying theory behind Kalman filtering to actually be able to practically implement a Kalman filter in a design? I would like to find a book that builds up the needed knowledge to be able to do that. A book that doesn't jump rights a way into complicated formulas. I have found some recommendations to the following books: 1.) Introduction to Ran...

## Kalman fiter for accelerometer

Started by in comp.dsp9 years ago 8 replies

Hi The problem i'm trying to face is to filter the accelerometer noise using a kalman filter without any other input. I'm new to kalman filter...

Hi The problem i'm trying to face is to filter the accelerometer noise using a kalman filter without any other input. I'm new to kalman filter and i don't know exactly how to model and develop such a filter. As a first attempt i tried to describe the problem as follows: (p = position, v = velocity, a = acceleration, dt = time delta) |p| xhat_k = |v| |a| |1 d...

## kalman filter to improve the gps data received from an iPhone

Started by in comp.dsp10 years ago 39 replies

Hi, I am currently working on an navigation application for an iPhone device. The GPS data that I receive is not very accurate and I want to...

Hi, I am currently working on an navigation application for an iPhone device. The GPS data that I receive is not very accurate and I want to use a kalman filter. The problem is that I don't really know how to build the kalman equations for x and y coordinates. What kind of model should I use?

## Kalman gain for weighting a state which is not directly measured

Started by in comp.dsp7 years ago 3 replies

Hi, I have implemented a simple Kalman filter (using standard Kalman filter equations) to integrate INS and wheel encoder. My state vector...

Hi, I have implemented a simple Kalman filter (using standard Kalman filter equations) to integrate INS and wheel encoder. My state vector includes ?displacement? and ?velocity?. (acceleration is the known input) x=[disp; vel] My model is: d(disp)/dt=vel d(vel)/dt=acceleration(in navigation frame) I also have external measurements of velocity from wheel encoder. Kalman gain theref

## Kalman filter equation

Started by in comp.dsp11 years ago 6 replies

Hi I've got a question on one equation of the Kalman filter. First off, a quick sync of the terminology (just like on Wikipedia) x: System...

Hi I've got a question on one equation of the Kalman filter. First off, a quick sync of the terminology (just like on Wikipedia) x: System state estimate P: System state estimation error covariance F: Process Model H: Measurement Model z: Measurement y: Innovation S: Innovation covariance K: Kalman Gain Consider the first equations of the Kalman filter first (leaving out s...

## kalman filter diverging?

Started by in comp.dsp16 years ago 11 replies

Hi, I have implemented a discrete kalman filter which works well with the amount of data I have but the gain and the covariance estimate...

Hi, I have implemented a discrete kalman filter which works well with the amount of data I have but the gain and the covariance estimate values seem to be increasing constantly and if I supply more data, I think I'll get a overflows in any precision of floating point I can use. The filter has to run indefinitely. Any pointers on how to stabilize discrete (extended) kalman filters ? Muzaff...

## Kalman Filter Help - Anybody understand Kalman filtering??

Started by in comp.dsp13 years ago 19 replies

Hi, I've been undertaking a project to create a controller for a quadrotor aircraft. Whilst the dynamic modelling and controller design has...

Hi, I've been undertaking a project to create a controller for a quadrotor aircraft. Whilst the dynamic modelling and controller design has nearly been completed I am having trouble getting the requried feedback signals. I am trying to implement a Kalman filter to combine the signals of accelerometers and gyroscopes to produce an attitude estimate. I have read all the introductory literature...