I have been working on an improved altitude estimator for a while here but have been having issues with implementation.
The theory works fine but as seen above in the FFT of the accelerometer data,…Continue
The barometric sensor alone in most cases provides noisy and drift prone measurements. I have been trying to come up with a simple way to implement a fixed gain filter to utilize the acceleration measurements from the accelerometers to help clean up the noise and also add a sanity check via sensor fusion.…
I posted this earlier but did some tweaking on it to compare the Extended Kalman to my Fixed Gain Observer filters. I haven’t finished the FGO position filter but am really starting to lean more on EKF because the performance really is significantly better.…Continue
Note** these are 100meter orbits with really strong winds to provide a…Continue
I wrote down a napkin sketch of an altitude filter a while back and finally got around to testing it in the simulator. I designed it to improve the sensed altitude of the ardupilot. It is based on a fixed gain observer model and shows very promising results. The idea is to use the "lagless" airspeed sensor to give you a less noisy lagless altitude estimate. Enjoy!
K_alt = -0.01;
avg_aoa = 0.52*(pi/180); //alpha =…
Wrote up a wind estimator today. It is based off of a simple model which requires very little inputs from sensors.
psi - true heading (not course over ground)
theta - pitch
GPS lat and long
It is a simple model. The wind model has no dynamics which helps simplify the solution. This asusmption is mostly true beings the wind direction and velocity doesn't…Continue
In Bill's recent pod cast he talked about how the imudevboard experienced a random nose dive or extreme over estimation in the pitch (theta) axis. His theory was that the noise due to engine/aircraft vibration was causing the gyros to give inaccurate readings. He said that he put the imu in foam and the problem went away. I don't know how repeatable his experience was or how many test vehicles this "technique" was run on, but I find it no… Continue