I have worked with Ardupilot for a long time and I am very impressed with the EKF used there. I did some research and found out it was Paul Riseborough's Inertial Nav EKF. 

I would like to implement this ekf on another personal project separate from APM, and I seem to be getting close, but the whole thing seems pretty complicated. I have cloned the Inertial_Nav github repository and modified one of the test harnesses until I think it seems to be doing what I want, but it seems a lot of the work is still done in the test harness and not in the EKF code itself. I'd like to make it as simple as possible to implement this system.

I am only using GPS and IMU data. (no rangefinder, airspeed, etc)

Does anyone have any tips on how to implement this?  Is there a guide on what each function in the ekf does and how to use them?  It seems to me that the 2 main methods are the UpdateStrapdownEquationsNED() method and the CovariancePrediction() method. Is this correct?  and how do I set everything else up before I call these functions?

Like I said, it seems I have done it with a small degree of success already, but I am highly doubtful that my way of doing it is either correct or at all efficient.

I would be interesting in contributing a few simple additions to this repository to improve the simplicity of implementation for others if I can figure it out myself.

I can provide more details if needed. Thanks for any help!

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • Sorry, here is the link to the repository:

    InertialNav

    priseborough/InertialNav
    Inertial Navigation Filter. Contribute to priseborough/InertialNav development by creating an account on GitHub.
  • Developer

    I cant claim to be much help, but a link to the cloned repository would be a start, if there is one. Anything that helps to simplify and document the code is a good thing in my opinion. 

This reply was deleted.

Activity

DIY Drones via Twitter
RT @chr1sa: My talk on PX4 and FAA certification is coming up at 1:45 PST today on the PX4 Dev Summit livestream. Includes some cool new st…
Tuesday
DIY Drones via Twitter
RT @seesharp: I'm tuned into the PX4 / Dronecode free live conference. Great stuff. Microsoft AirSim talk in 10 minutes. https://t.co/0zbZ2…
Monday
DIY Robocars via Twitter
RT @masato_ka: 距離センサを3つとESP32を付けたラジコンカーをDonkeyCarライクにNNで自動走行。3層FC極小モデルをTensorFlow Lite for microcontrollerで動かしてる。機体は借り物でRumiCarって言います。Tenso…
Monday
DIY Robocars via Twitter
RT @SmallpixelCar: My car was able to go all the way autonomously until the crosswalk. It was only 100 yards from the target. What should b…
Saturday
Liam left a comment on Agricultural UAVs
"Hi
I'm Liam from T-MOTOR. I would like to reach out to see if there is any possibility for us to work together.
We are a propulsion system manufacturer who offers motors, propellers and ESCs for all kinds of drone applications which vary from secur…"
Jun 30
DIY Robocars via Twitter
RT @SmallpixelCar: Smart move. The car used the shadow to guide it through the bridge. This was never in the training samples. But it learn…
Jun 30
DIY Robocars via Twitter
RT @SmallpixelCar: Getting closer to the target. Single camera. Untrained road. https://t.co/Wsr7RwDamj
Jun 29
Richard Cox left a comment on Australia
"Anyone in the DIYDRONES Australian subgroup based in Alice Springs, NT?
I am experimenting with Ardupilot (standard Arduplane), Pixhawk 4 FC in a 4-ch
RC "AXN Floater Jet" foamy plane..."
Jun 29
Omar Sykes left a comment on Australia
"Hi everyone, I am looking for someone who is good at drone building, repair and software in Adelaide. Please give me a call on 0477 319 219."
Jun 29
DIY Robocars via Twitter
RT @RoboticMasters: #donkeycar https://t.co/czuLoVRcA4
Jun 29
DIY Robocars via Twitter
https://t.co/DKQbNTbz0g
Jun 29
DIY Robocars via Twitter
RT @RoboticMasters: Donkey car, car car car car car car; Donkey car, car car car car car car; Donkey Car. Anyone like our tiny tiny donkey…
Jun 29
DIY Robocars via Twitter
RT @SmallpixelCar: After improving DBSCAN speed, I can get 11 frame per second on @NVIDIAEmbedded Jerson Xavier MAXN mode and the autonomou…
Jun 26
DIY Robocars via Twitter
RT @Heavy02011: Join us at next Virtual Race League: ⁦@diyrobocars⁩ Race #4 - Parking Lot Nerds, August 1st https://t.co/5KUpu7VGaH
Jun 25
DIY Robocars via Twitter
RT @SmallpixelCar: #CUDA implementation should be easy, because most of the time is on distance calculations berween two points and if the…
Jun 25
DIY Robocars via Twitter
RT @SmallpixelCar: This is the view from the car. Even my lanenet inference is fast on @NVIDIAEmbedded Jerson Xavier, DBSCAN clustering tak…
Jun 25
More…