Gender

Male

Location

West Lafayette, IN

A Master's student at Purdue University working with UAV control systems.

Data Fusion, Hybrid Controllers, Vision enhanced navigation

Hometown:

WEST LAFAYETTE

### Activity Feed

Brandon Wampler commented on Ryan Beall's blog post Improved Altitude Estimate
"Ryan, I agree with your simple aproach, but don't anyone underestimate its power.

The 4 simple equations, if combined with the the scalar valued steady-state Kalman gains, which only need to be calculated once, are the almost absolute optimal…"
Dec 7, 2010
Brandon Wampler commented on Ryan Beall's blog post Improved Altitude Estimate
"I know. It could a have been a good money maker. I have text books going back a decade or more on these methods."
Dec 6, 2010
Brandon Wampler commented on Ryan Beall's blog post Improved Altitude Estimate
"By barometer offset I meant bias. If the barometer has a temperature dependent bias or scale factor that could be accounted for as I mentioned above."
Dec 6, 2010
Brandon Wampler commented on Ryan Beall's blog post Improved Altitude Estimate
"There shouldn't be too much re-inventing, Ryan's equations are spot on with GPS measurement just needing another addition term (for example: ... + k_*_gps(h_est - gps_alt).

The new part is how you choose the gains which are based on the state…"
Dec 6, 2010
Brandon Wampler commented on Ryan Beall's blog post Improved Altitude Estimate
"This has the same form as a two state (vertical position and velocity) with a single measurement (barometric altitude) steady-state Kalman filter. You can pre-compute the steady-state Kalman gains using the noise properties of your sensors and the…"
Dec 6, 2010
Brandon Wampler commented on James Goppert's blog post QGroundControl w/ ArdupilotMega Mavlink Branch, RC Car LIve Test
"Yes, our computer vision obstacle avoidance algorithm is so robust it even works without a camera.

One change to your post James. We did change the cross-track gain to 0.1 and allow a 90 deg cross track entry angle."
Nov 21, 2010
Brandon Wampler commented on Brandon Wampler's blog post Drone GCS: Qt/OsgEarth based ground station designed for APM
"This sounds interesting, we'll have to look into it as well, Thanks for the heads up."
Nov 7, 2010
Brandon Wampler posted a blog post
This is the Qt GCS that James and I have been working on. It still needs some work but it uses cross-platform libraries and the CMake build system. It uses OsgEarth, an open source equivalent to Google Earth. The GCS can load many 3d model types…
Nov 5, 2010