On Tue, 16 Feb 2016 09:55:25 -0600, thomasflynn16 wrote:

> Hi everybody, I have to do a research mini project on the following
> techniques.
> 
> 1- Kalman
> 
> 2- Complementary
> 
> Even just some tips/links on where to start and maybe how I might be
> able to add a practical element to my project (e.g a basic matlab
> script).
> 
> Considering my knowledge of DSP is somewhat limited, what fundamental
> DSP aspects do I need to know before I can delve into these 2
> techniques?
> 
> Background:
> This question is asked by a final year Electronics student who has a
> very very very basic understanding of DSP and a mediocre lecturer.
> I know the basics of an IIR and FIR filter, High & low-pass filters, and
> band-pass filters.

Need more info.  What's the problem statement?

If you're trying to do sensor fusion on a vehicle, complimentary 
filtering only makes sense if you know the orientation well.  If you have 
to deduce (or refine) orientation from a mix of gyro, accelerometer, and 
GPS data, then you need some nonlinear extension of the Kalman filter -- 
at the least you need an extended Kalman, for best performance you'd need 
something like an unscented Kalman or a full-on Baysian particle filter.

To get at least an intuitive understanding of complimentary filtering, 
assuming that orientation is known, you should:

* make a Bode plot of the position noise from GPS
* make a Bode plot of the position noise from an accelerometer after 
  it's output has been conditioned to give position
* think hard about where each one is superior.

-- 

Tim Wescott
Wescott Design Services
http://www.wescottdesign.com

Hi everybody, I have to do a research mini project on the following
techniques.

1- Kalman

2- Complementary

Even just some tips/links on where to start and maybe how I might be able
to add a practical element to my project (e.g a basic matlab script).

Considering my knowledge of DSP is somewhat limited, what fundamental DSP
aspects do I need to know before I can delve into these 2 techniques?

Background:
This question is asked by a final year Electronics student who has a very
very very basic understanding of DSP and a mediocre lecturer.
I know the basics of an IIR and FIR filter, High & low-pass filters, and
band-pass filters.





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