Info about Kalman filter

Firmware/software/electronics
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giandoman
Beginner
Posts: 29
Joined: Wed Sep 27, 2017 1:23 pm

Info about Kalman filter

Post by giandoman » Wed Oct 24, 2018 1:20 pm

HEllo, i have one question.
Does the Kalman filter works on the firmware even without the LPS and only the flow deck is connected? Or there is another estimator running when LPS is not available?
I'm asking this because on Raffaello D'Andrea's paper is clearly written: "The estimator presented in Section IV relies on the mea- surements of three distinct types of sensors: angular rate gyroscopes, accelerometers, and UWB range sensors. "
Thanks
Gianni

arnaud
Bitcraze
Posts: 1788
Joined: Tue Feb 06, 2007 12:36 pm

Re: Info about Kalman filter

Post by arnaud » Wed Oct 31, 2018 9:50 am

Hi, yes the EKF is used to estimate the Crazyflie state when using the flow deck.

The flow update function for the EKF has been implemented as part as M. Grieff Master thesis. You can find the report in the research portal: https://www.bitcraze.io/research/#publi ... azyflie-20.

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