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Implementation of Kalman Filter using APM 2.0.

Posted by Sunghun Jung on April 16, 2012 at 7:12pm

Hello,

I am currently working on APM 2.0 to implement Kalman filter using GPS and INS data using 9 by 9 state matrix,  [P_x,V_x,Pl_x,P_y,V_y,PI_y,P_z,V_z,PI_z]', where PI_x,PI_y, and PI_z represent platform tilt about x, y, and z axis.

A problem is that newly updated global matrices X and P are not transferred to next iteration although I defined those as global matrices.

As far as I tested, a single global variable which is defined before void setup() works well as a global variable in that the previous value of the variable is successfully transferred into next iteration.

Is there anyone who could shed some lights on me?

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Tags: 20, apm, ardupilot, filter, filtering, gps, ins, kalman, mega, and
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Replies

  • Dr Sudesh Kumar KAshyap April 1, 2013 at 9:51pm

    Hello Sunghun. 

    Nice to see your interest on implementing Kalman filter on APM 2.0. Have you solved the problem of updating global variable?  I too have implemented 9 state Kalman filter for navigation and i did not faced any problem in updating global variables. I am getting good prediction of attitudes but if i enable measurement update part of filter the estimation give NAN. I guess that there is some problem while computing Kalman gain. Would you like to discussion with me to sort out this problem?

    Sudesh K Kashyap

  • Shyam Balasubramanian September 9, 2012 at 9:39am

    Hi Sunghun,

    Did you get solution to your problem ? If so could you tell me what as I am also working on Kalman filter using this board. Moreover, I wanted to know where in the code is kalman filter implemented in ArduPlane (or any Ardu code)..

    Seeking your reply.

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