Sensor fusion using extended kalman filter

Click For Summary

Discussion Overview

The discussion revolves around the implementation of sensor fusion using an Extended Kalman Filter (EKF) for state estimation, specifically focusing on data from two three-axis accelerometers and potentially other sensors like encoders and gyroscopes. The context includes modeling for mobile robot navigation systems.

Discussion Character

  • Exploratory
  • Technical explanation
  • Homework-related

Main Points Raised

  • One participant seeks assistance in modeling sensor fusion for two three-axis accelerometers using EKF.
  • Several participants inquire about the states and measurements involved in the implementation, emphasizing the need for more information before providing help.
  • A participant mentions they are a beginner and are currently reviewing literature on Kalman filters, specifically using ADXL345 accelerometers, and requests guidance on selecting plant and measurement models.
  • Another participant describes their goal of implementing a mobile robot navigation system that fuses data from encoders and accelerometers, specifying the states as Xk={x,y,theta} and asking if a gyroscope is necessary for better pose estimation.

Areas of Agreement / Disagreement

Participants generally agree on the need for more detailed information regarding states and measurements before providing assistance. There is no consensus on the specific models or approaches to be used for sensor fusion.

Contextual Notes

Participants have not yet defined the specific plant and measurement models, and there is uncertainty regarding the necessity of additional sensors like gyroscopes in the fusion process.

Who May Find This Useful

Individuals interested in sensor fusion, mobile robotics, and the application of Extended Kalman Filters in state estimation may find this discussion relevant.

SUDHEER87
Messages
25
Reaction score
0
hi all,
m trying to implement sensor fusion of two three axis accelerometers data.can anyone help me in modelling this sensor and fusing for state estimation using EKF?
thanks in advance.!
 
Engineering news on Phys.org
What are the states? Measurements? And what have you done so far?
 
chingkui said:
What are the states? Measurements? And what have you done so far?

thanx 4 your kind reply..,iam just a beginner.Right now iam surveying the literature regarding kalman filter.im using ADXL345 accelerometers..,kindly help me in choosing plant model and measurement model...!

thanq
 
chingkui said:
What are the states? Measurements? And what have you done so far?

can u pls help??
 
We can help, BUT

You need to drop the text speech. Try to use proper English. We don't expect perfect English, but we do want you to try.

You need to give us a little bit to work with. Show some work, answer problems when asked (e.g., post #2).

Do not ask us to do all of your work for you.

Do not ask us to write a book.
 
chingkui said:
What are the states? Measurements? And what have you done so far?

hi..!

Iam trying to implement a mobile robot navigation system based on extended kalman filter. I need to fuse the data from the encoders with the two accelerometer's data. The states are: Xk={x,y,theta} where x,y are the coordinates and theta is the heading angle.
Can anyone help me in fusing the data from encoders and accelerometers to get good estimate of the robot pose? And is gyroscope necessary in this??

Thanks in advance..!
 

Similar threads

Kalman Filter States: What Do They Represent?
  • · Replies 1 ·
Replies
1
Views
2K
Understanding the Use of Kalman Filters and Gyros in Aircraft Design
  • · Replies 8 ·
Replies
8
Views
3K
Undergrad Noise Whiteness hypothesis in Kalman filtering
  • · Replies 4 ·
Replies
4
Views
2K
: Lyapunov Equation for backward continuous-time Kalman Filter
  • · Replies 2 ·
Replies
2
Views
2K
Kalman filter - help me to set up a state equation
  • · Replies 2 ·
Replies
2
Views
2K
Extended Kalman Filter(EKF) concept (SIMULINK)
  • · Replies 1 ·
Replies
1
Views
9K
Comparing Viterbi & Kalman Filters for Dynamic HMM
  • · Replies 1 ·
Replies
1
Views
5K
How Should Gyro Measurements Be Integrated in Kalman Filter Models?
  • · Replies 9 ·
Replies
9
Views
7K
Kalman Filters & accelerometers - linear vs extended, what do I need?
  • · Replies 1 ·
Replies
1
Views
4K
Engineering Extended Kalman Filter Jacobians
  • · Replies 1 ·
Replies
1
Views
2K