Recent content by hoddy

Hi I have collected data from a IMU on a boat. Currently I am using the angular velocity measurement vector ##\omega^b_{imu} = \begin{pmatrix} p\\q\\r\end{pmatrix} ## for use in kalman filter, where superscript ##b## is BODY frame. The BODY frame is given be x-axis pointing forward, y-axis...

Hi berkeman. sorry, here is the complete equation with v, omega, f and g beeing 3x1 vectors: Im just curious about the first term with the skew symmetric, how it will turn out when I only have it in 1 dimension, like described in original post.

Hi, if I have a equation like (just a random eq.) p_dot = S(omega)*p. where p = [x, y, z] is the original states, omega = [p, q, r] and S - skew symmetric. How does the equation appear if i only want a system to have the state z? do I get z_dot = -q*x + p*y. Or is the symmetric not valid so I...

Hi, I am working on a kalman filter where my measurement equation involves "-g + v" , where g is in m/s^2 and v is velocity random walk given in m/s/sqrt(hr). Feels like a stupid question, but how can I transform the unit of velocity random walk so I can do the calculation correctly?