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 . 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?
Have you got the greatest 48 bit multiplier ever conceived? Prove it - post your code here.
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