Attitude values slowly converging to zero in EKF
Posted: Thu May 31, 2018 10:31 pm
Hi All,
I am required to calculate the instantaneous linear velocity, acceleration and attitude for the controller I'm working on. I'm using the EKF implemented by Hamer and I noticed that the attitude values are slowly converging to zero when even the drone is idle at a given pose. But when I use the default estimator the attitude values seem to be pretty solid. Is there a way to omit this convergence of EKF?
Thank in advance for your time!
I am required to calculate the instantaneous linear velocity, acceleration and attitude for the controller I'm working on. I'm using the EKF implemented by Hamer and I noticed that the attitude values are slowly converging to zero when even the drone is idle at a given pose. But when I use the default estimator the attitude values seem to be pretty solid. Is there a way to omit this convergence of EKF?
Thank in advance for your time!