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study kalman

Posted: Sat Feb 23, 2019 7:46 am
by lcmiao
Dear all,
I am trying to study the LPS code kalman.c of crazyflie.But because my algorithm is very poor, I found it hard to understand it.I know the twr algorithm only get the distance between CF and anchor.I don't understand kalman.c how to get position of CF only based on the there any introductory Reference material or formula about these code?Thanks!