Extended Kalman Filter

ArduCopter
1

Hi to everyone! Could someone help me please? I have to adjust parametres for EKF, in which library will I manage to do it, which particular file? I want to change parametres and measurement errors to my sensors: VN100, IntelRealSense D455 sensors, so on. How can I make a simulations of EKF work and produce some plots, to see changes from my parametrs? I’m a newbie in drones and EKF, so all advices will be helpful! Thanks.

2

Hello, as usual, wiki is your friend
https://ardupilot.org/copter/docs/common-apm-navigation-extended-kalman-filter-overview.html

For the IMU, the VN-100 has been added recently, you can track modifications and related libraries here:

For the D455, it is generally part of Visual Odometry Library that has some parameters available for the fusion process

3

Thanks for the response! Yes, I saw this wiki page, i just want to know in which particular file should i make some changes to EKF, and plot graphs to visualize work of EKF? Just wanna make some simulations

4

Well, there are a lot of files and libraries involved, you can work at the driver level but if you want to go deeper, look at the EKF libraries on github

5

Thanks, will try, hope i will succes

6

Could you please tell me, how to run matlab simulations from this library GitHub - priseborough/InertialNav: Inertial Navigation Filter ? I think its relative to ArduPilot, isnt it? I have done all steps, but there is an error:

  • Error evaluating parameter [‘navStartTime’](matlab:Simulink.internal.OpenBlockParamsDialog([‘NavFilterTestHarness24/Delay Start’],‘navStartTime’):wink: in ‘NavFilterTestHarness24/Delay Start’

  • Unrecognized function or variable ‘alignTime’.

    • Variable ‘alignTime’ does not exist.
7

Oh… that was a loooooooooooooong time ago.
I suggest you jump on the EKF DEV channel for further assistance

8

Thanks for response for my questions! I now they are probably silly, im just a noob in this

1 Like
9

Im sorry but looks like the link is broken

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