Extended Kalman Filter Software Implementation - Sensor Fusion #4 - Phil's Lab #73
Extended Kalman Filter (EKF) implementation and practical considerations. Real-world, real-time implementation and demo on an STM32 microcontroller in C using accelerometer and gyroscope measurements. Part 4 (final) of sensor fusion video series.
Chapters:
- 00:00Introduction
- 01:06Pre-Requisites
- 01:53´Low-Level´ Firmware Overview
- 07:00Axis Re-Mapping
- 08:17Calibration
- 09:42Filtering Raw Measurements
- 12:12EKF Algorithm Overview
- 14:11EKF Initialisation
- 17:12EKF Predict Step
- 19:26Matlab/Octave Symbolic Toolbox
- 21:11EKF Update Step
- 22:16Setting EKF Parameters
- 23:26Debug Set-up and Tag-Connect SWD Probe
- 24:05Live Demonstration
- 26:29Practical Considerations
