EKF Documentation

General Website and Documentation errors
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1

Hello,

I was wondering if there was any detailed documentation available on the Extended Kalman Filters (EKFs) used in Ardupilot? Are there any white papers that could be referenced that describe the filters that are used in Ardupilot in detail? What are the differences between EKF2 and EKF3? If there aren’t any documentation available for the exact Kalman filters used in Ardupilot, does anyone who works on the filters know of any good references for a similar Kalman filtering methodology? We’re looking for conference papers, white papers, journal papers, or something similar that goes into detail on how the Kalman filters work in Ardupilot.

Thanks!

2

Look at youtube videos by Paul Riseborough

I already answered the same question in this forum a couple of times, and in one of my answers there is a link to a whitepaper.

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3

Thank you so much!

Also, for anyone else looking for background info on the EKFs, I found this post as well: How does EKF3 update its attitude? Are gyroscopes and accelerators involved？ - #7 by amilcarlucas

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