Just Robotics
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Kalman Filter vs DCM

Started this discussion. Last reply by al Apr 23, 2012. 19 Replies

Hi, I have been in R&D phase of UAVs for past some time, especially self-stabilization algorithms.It may sound a dumb question but comparing DCM vs Kalman Filter, is that a fair comparison? My…Continue

 

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al replied to Just Robotics's discussion Kalman Filter vs DCM
"hi TOM, where does one find such files like the pdf you linked? I am very interested in a deeper understanding of the functioning of the ardupilot mega, maybe a code explanation/manual.... thank you"
Apr 23, 2012
Kanishka replied to Just Robotics's discussion Kalman Filter vs DCM
"Hi Tom, I really do appreciate your reply. Thanks a lot for that.  Your comments confirmed what i thought before. actually my language skills are not good enough to ask exactly what i want. :) I read that draft document and i following this…"
Feb 14, 2012
Tom replied to Just Robotics's discussion Kalman Filter vs DCM
"Ad 2. Yes and no. Yes, the sensor measurements obtained from cheap gyroscopes and accelerometers are quite noisy. Generally, in case of very slow rotating and non-accelerating objects, 3-axis accelerometers alone would suffice to obtain angular…"
Feb 14, 2012
Kanishka replied to Just Robotics's discussion Kalman Filter vs DCM
"Hi..  I was following this discussion and this site in general with great interest.  After reading some documents in the internet the conclusion I came about the general process of attitude estimation as follows.  Please correct me if…"
Feb 13, 2012
Tom replied to Just Robotics's discussion Kalman Filter vs DCM
"I think, developing a UAV simulation in, e.g., Matlab / Simulink, from scratch might be a better place to start, if you really wan't to understand how things work. I see the learning process the following way: First thing to understand when…"
Feb 5, 2012

T3
William Premerlani replied to Just Robotics's discussion Kalman Filter vs DCM
"Hi Paul, I have made several improvements to MatrixPilot (which uses DCM) since you did your comparison, such as self-calibrating gyros, for example. How well does Kalman handle gyro gain errors during sustained turns? Gyro gain errors can be…"
Jan 15, 2012
Paul Bizard replied to Just Robotics's discussion Kalman Filter vs DCM
"The Kalman Filter is 10x more accurate but 10x more costly in computations. I have compared the two of them. Lets says that the complementary filter will be accurate to better than 5 degrees (depends upon the way the aircraft flies - aerobatics or…"
Jan 15, 2012
Just Robotics replied to Just Robotics's discussion Kalman Filter vs DCM
"Bot Thoughts,   Thanx a lot Your "thought" right on the "spot" ;-) I am from Computer Science background, so I wanted to work on those areas first where I can apply my acquired skills. I shall definitely learn control theory…"
Jan 14, 2012
Bot Thoughts replied to Just Robotics's discussion Kalman Filter vs DCM
"Wished I could advise. I've never built a flying autonomous vehicle. For that matter, I've yet to build a functioning autonomous ground vehicle. I do agree that an off-the-shelf IMU/AHRS solution is the best way to go vs. trying to roll…"
Jan 13, 2012
Just Robotics replied to Just Robotics's discussion Kalman Filter vs DCM
"No expert advises??? :-("
Jan 13, 2012
Just Robotics replied to Just Robotics's discussion Kalman Filter vs DCM
"Thanx Bot and AndrewF,   Now I, kind of got my orientation ;-) I will now be heading to the regional library, or Googling may help too, I guess. If you guys know any online resources on the subject, please do let me know, I will greatly…"
Jan 12, 2012
AndrewF replied to Just Robotics's discussion Kalman Filter vs DCM
"You are probably looking for classes in Dynamics (Advanced Dynamics even) to cover Euler angles, quaternions, and how these are related to what the gyros and accelerometers sens, and in Linear Control Theory to cover state estimators which would…"
Jan 9, 2012
Bot Thoughts replied to Just Robotics's discussion Kalman Filter vs DCM
"I do have an engineering background but probably can't explain Euler angles and quaternions. :D It's just a question of starting to learn some new stuff. It will start to fall into place. As far as I understand, albeit imprecisely,…"
Jan 9, 2012
Just Robotics replied to Just Robotics's discussion Kalman Filter vs DCM
"Thanks to all of you but as I mentioned earlier, I don't have an engineering background, I think that's the reason, I am having trouble understanding these terms WGS, UTM, Euler angles, Quaternions etc.   Is it possible that someone…"
Jan 9, 2012
AN replied to Just Robotics's discussion Kalman Filter vs DCM
"The AHRS information-roll,pitch and yaw in UAV sensors is updated (60 packets/sec) faster than GPS (1 packet/sec).Trajectory tracking has erroneous results if you estimate the position with GPS to follow your trajectory( as your velocity and…"
Jan 7, 2012
Jan Vervoorst replied to Just Robotics's discussion Kalman Filter vs DCM
"Tom touched on the correct subject. The way the term DCM is used around here is very misleading. Direction Cosine Matrix (DCM) is only the name for a way to construct a rotation matrix. The actual process used by Bill Premerlani in…"
Nov 22, 2011

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About Me:
Computer Science Professional with some RC experience and some working knowledge of Arduino
Please tell us a bit about your UAV interest
I love UAVs and autonomous flying machines, want to learn the theory behind self-stabilizing flying machines be fixed wing or rotary

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