## Unscented kalman filter math question

Started by in comp.dsp9 years ago 1 reply

Hi, I am trying to implement an unscented kalman filter, as described here: http://cslu.cse.ogi.edu/nsel/ukf/node6.html My problem is with...

Hi, I am trying to implement an unscented kalman filter, as described here: http://cslu.cse.ogi.edu/nsel/ukf/node6.html My problem is with equation 18 - What does the multiplication mean? As far as I understand, the first (Yi - y^) is a row vector, and the second one is a column vector, therefore this is a dot product. But then the result of the expression inside the sigma is a scalar, and ...

## Kalman Filters and Pink Noise

Started by in comp.dsp7 years ago 4 replies

Oddball question. Or maybe just a plea for comments. I'm kind of getting painted into a corner, and the color of the paint is pink. It's...

Oddball question. Or maybe just a plea for comments. I'm kind of getting painted into a corner, and the color of the paint is pink. It's looking like I need to estimate pink noise with a Kalman filter. Anyone done anything remotely like this? Know of anyone who has? Did they survive? The method that I know of for simulating pink noise involves running white noise through a fil...

## applied Hinfinity filtering

Started by in comp.dsp11 years ago 2 replies

Hinfinity filtering is often mentioned by the readers of this group. For sure, it has theortic advantages over the kalman filter under...

Hinfinity filtering is often mentioned by the readers of this group. For sure, it has theortic advantages over the kalman filter under certain conditions. Now I encounter the problem of tuning the weighting matrices and I wonder if you have any cooking recipes, rules of thumb or references to help. A good startoff for me is trying the covariance matrices of the corresponding kalman filter for...

## Need Help: Multirate Systems

Started by in comp.dsp13 years ago

hi folks, I need sum help regarding multirate systems. I am currently working on a project where we r developing a Transfer Function model...

hi folks, I need sum help regarding multirate systems. I am currently working on a project where we r developing a Transfer Function model for Kalman Filter (Actually EKF). We have developed a Kalman Filter for Avionics System of an autopilot. In this filter we have GPS (measurements for KF) running at 5Hz and inputs that is accelerometers and rate gyoros (INS) at 25 Hz. KF operates at fr...

## H-inf and Kalman references for a controls person

Started by in comp.dsp9 years ago 6 replies

-Hello all, Does anyone have some good references on H-inf filter and Kalman filters for a controls person? I am pretty familiar with how...

-Hello all, Does anyone have some good references on H-inf filter and Kalman filters for a controls person? I am pretty familiar with how these work (and the associated algorithms) in a controls context and I am trying to broaden my horizons with their DSP-sister uses. Thanks for your time. AM

## kalman filter and object tracking

Started by in comp.dsp9 years ago 4 replies

hi there i working on an object tracking project by kalman filter, assume that there is a moving object, as i studied before i thought 2-degree...

hi there i working on an object tracking project by kalman filter, assume that there is a moving object, as i studied before i thought 2-degree model (a*x^2+b*x+c) is useful but in simulation result i found our moving is not with constant acceleration all the time. i want to know is there any better idea for this problem?

## Square-root Kalman Filter Algorithm

Started by in comp.dsp14 years ago 1 reply

Hi, Currently I am using traditional Kalman Filter algorithm for my problem but the code has problems with inverting some matrices. Some one...

Hi, Currently I am using traditional Kalman Filter algorithm for my problem but the code has problems with inverting some matrices. Some one told me that square-root algoritm is more stable. Does some-one have its algorithm? Thanks, Boihon

## Searching for literature: State space variables

Started by in comp.dsp13 years ago 7 replies

Hi all. A couple of weeks ago, I found a transcript of Kalman's original paper from 1960. Browsing quickly through it, I found that it was...

Hi all. A couple of weeks ago, I found a transcript of Kalman's original paper from 1960. Browsing quickly through it, I found that it was actually readable, at least with my background in subspace analysis and linear algebra etc. As far as I could tell, Kalman basically described null spaces, signal spaces and manifolds 30 years before such terms became common in the DSP literature. The i...

## Kalman filter estimator for Gyro and accelerometer

Started by in comp.dsp2 years ago 11 replies

I am using a fairly standard approach to estimating angular pitch using a KF. It uses both accelerometer and Gyro angle data. Now it estimated the...

I am using a fairly standard approach to estimating angular pitch using a KF. It uses both accelerometer and Gyro angle data. Now it estimated the angle fine enough and I implement the steady-state KF. Never tried this before but then put a PID or lag-lead controller on this measurement. I find that the Kalman filter bandwidth is stuff all and severely reduces the bandwidth of my cl

## [HELP] Kalman Filter

Started by in comp.dsp9 years ago 4 replies

Hi, I'm working on a tracking system able to estimate the position of a walking person moving in a 2D scenario. I only measure the x and y...

Hi, I'm working on a tracking system able to estimate the position of a walking person moving in a 2D scenario. I only measure the x and y coordinates of the person, and I would like to improve the tracking algorithm using a Kalman Filter in Matlab. My question is: how can I correctly model the real process? For example, I don't understand how to set the process noise covariance matrix Q, si...

## extended kalman filter for mobile robot

Started by in comp.dsp13 years ago 1 reply

Hi everyone, I am doing a thesis about fault detection and isolation. Therefore I am using a nonlinear Kalman filter. The process I consider...

Hi everyone, I am doing a thesis about fault detection and isolation. Therefore I am using a nonlinear Kalman filter. The process I consider is a two wheeled mobile robot. The inputs are the angular velocities of the wheels, and the outputs the posture, that means x, y, and angle phi. The model is: x(k+1) = x(k) + 0.5(w1*r1+w2*r2)*cos(phi)*dt y(k+1) = y(k) + 0.5(w1*r1+w2*r2)*sin(phi)*dt ...

Started by in comp.dsp15 years ago 1 reply

Hi there, I?m going to start my thesis work on Inertial navigation system for mobile Robot(Gyro-inclinometer),so i need to use filter...

Hi there, I?m going to start my thesis work on Inertial navigation system for mobile Robot(Gyro-inclinometer),so i need to use filter algorithm.I?ve some idea about kalman filter,but i would like to know which filter is most suitable to my project.What are the alternative adaptive filter techniques for Kalman filter?Could anyone please suggest me the filter techinque(or where can i find r...

## accelerometer and Kalman Filter.

Started by in comp.dsp6 years ago 3 replies

Dears, I was reading some posts about using Kalman filter with accelerometer sensor, and most of the questions were about the velocity and...

Dears, I was reading some posts about using Kalman filter with accelerometer sensor, and most of the questions were about the velocity and position. but my question is can i use Kalamn filter to filter the acceleration raw data itself ? for example my sensor has 3 axes and I want to remove the noise form them so can do that ? in this case the state vector should be (x,y,z) for three axes and ...

## VHDL code for Kalman filter

Started by in comp.dsp5 years ago 9 replies

Hi I am currently trying to implement particle filter in vhdl for my project. It would be great if someone could provide me d link to...

Hi I am currently trying to implement particle filter in vhdl for my project. It would be great if someone could provide me d link to similar implementions in vhdl like vhdl code for autoregressive process or kalman filter implementation in vhdl etc Thanks a lot venkat _____________________________________ Do you know a company who employs DSP engineers? Is it already listed at http...

## Kalman filter to smooth accelerometer signals using rotation matrix

Started by in comp.dsp4 years ago 5 replies

Hello All First post to this group! I have 3D accelerometer signals which are obviously noisy. I want to use Kalman filter to remove the...

Hello All First post to this group! I have 3D accelerometer signals which are obviously noisy. I want to use Kalman filter to remove the noise. I can also use a moving average filter and it will be fine but how can I use Kalaman filter to smooth these signals? regards sia --------------------------------------- Posted through http://www.DSPRelated.com

## Glitch/inconsistency detection in navigation data

Started by in comp.dsp13 years ago 34 replies

Hi folks. Assume you are given som 20,000 - 100,000 points of raw (x,y,z) navigation data as previously logged on some platform, and are...

Hi folks. Assume you are given som 20,000 - 100,000 points of raw (x,y,z) navigation data as previously logged on some platform, and are asked to clean up the data. My first, naive idea is to use some Kalman filter. So far so good. However, the data might contain glitches (jumps) or other inconsistencies that need to be sorted out before feeding them to the Kalman filter. How would...

## Re: Kalman filtering with multiplicative noise

Started by in comp.dsp11 years ago

On Jul 21, 5:35 pm, "Bruno Luong" wrote: > d...@myallit.com wrote in message > > You might consider Extended Kalman filtering (EKF). Be...

On Jul 21, 5:35 pm, "Bruno Luong" wrote: > d...@myallit.com wrote in message > > You might consider Extended Kalman filtering (EKF). Be aware > about the eventual non-stability of the scheme. > What do you mean by the eventual non-stability? I did look at the EKF, there is some simple sample MATLAB code here: http://www.mathworks.com/matlabcentral/fileexchange/loadFil

## Updating State Transition Matrices in Kalman Filter Design

Started by in comp.dsp14 years ago 5 replies

Has there been work performed on the case in Kalman Filtering where you are attempting to design a controller for a plant for which you have...

Has there been work performed on the case in Kalman Filtering where you are attempting to design a controller for a plant for which you have an estimate of the state transition matrix? Then you would want to adapt the actual state transition matrix as well as predicting the value of the state. How do you go about setting up this problem? I am more than a little lost. thanks, Susheem ...

## Forgetting factor for discrete linear kalman filter

Started by in comp.dsp10 years ago 13 replies

Dear all, I am doing a final year project to estimate the power consumption of a chiller plant. I have built a basic model by using...

Dear all, I am doing a final year project to estimate the power consumption of a chiller plant. I have built a basic model by using Kalman Filter and get a result with some percent of error. For my model, I used a moving windows say 60 sets of data, then calculated the parameters to be estimated from these data sets. Use these a,b,c,d,e and the measurement of 61set of data to estimat...

## Kalman filter application in video surveillance

Started by in comp.dsp13 years ago 1 reply

Hello... I'm currently working on a project in video surveillance. After performing foreground segmentation, I get blobs + noise (due to...

Hello... I'm currently working on a project in video surveillance. After performing foreground segmentation, I get blobs + noise (due to light variation etc.). To separate the blobs from the noise, I perform simple operations (such as removing all blobs with area < 500 pixels). I'm left with blobs (humans and ghosts). Now here is my problem, how do I apply kalman filters to track these bl