Code Monkey home page Code Monkey logo

flyingcar-estimation's Introduction

Estimation Project

Welcome to the estimation project. In this project, I have developed the estimation portion of the controller used in the CPP simulator. By the end of the project, the simulated quad is flying with the estimator and the custom controller (from the previous project)!

Rubics

1. Determine the standard deviation of the measurement noise of both GPS X data and Accelerometer X data.

I took the values from config/log/Graph1.txt (GPS X data) and config/log/Graph2.txt (Accelerometer X data) and copied them to excel notebook and found standard deviation from that. Hence I chanced the values to

    MeasuredStdDev_GPSPosXY = 0.7161
    MeasuredStdDev_AccelXY = 0.5092
2. Implement a better rate gyro attitude integration scheme in the UpdateFromIMU() function.

Implemented UpdateFromIMU using FromEuler123_RPY and IntegrateBodyRate.

UpdateFromIMU

3. Implement all of the elements of the prediction step for the estimator.

I used the below formula to complete the implementation of GetRbgPrime, PredictState and Predict function.

PredictState

PredictState

4. Implement the magnetometer update.

I used the below formula to complete the implementation of UpdateFromMag function.

UpdateFromMag

5. Implement the GPS update.

I used the below formula to complete the implementation of UpdateFromGPS function.

UpdateFromGPS

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.