kalman filter implementation of tom pycke

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cloud9
Posts: 7
Joined: Sat Sep 25, 2010 6:47 pm

kalman filter implementation of tom pycke

Post by cloud9 » Mon Dec 13, 2010 1:21 am

from tom pycke's website, he discusses the use of a kalman filter to estimate the attitude in one axis.
the system model that he uses in Image. the problem i see with this model is that it assumes that the angle is always positive.
angle_k = angle_k-1 + (gyrorangle - bias)*dt. what if the gyrorangle is negative? then the bias is "added" since they will both be of the same signs. am i just imagining things or is this problem really existent?

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