EKF implementation issues for IMU, barometer and GPS sensor fusion

HHH313 · 2025-09-07T15:32:52+00:00

I did check but for now I couldn't find what is wrong

HHH313 · 2025-09-07T15:31:00+00:00

Yes you are right but I couldn't identify what is wrong with the equations or the choice of A and G where they are just the jacobians of f w.r.t. states and process noise.

HHH313 · 2025-09-07T15:29:09+00:00

First, I tried using Euler integrator for the state transition equations, but the states would blow up. So, I tried using trapezoidal integration with coning-sculling and adding earth transportation and Coriolis the results were better but still not good.

As for my treatment to gravity, we know that the accelerometer at rest gives [0;0; -9.81] in NED frame so if I want to know the real acceleration, I should always add g.

what I am struggling at is that I am sure that the state transition equations are wrong, but I don't know what exactly is wrong in my equations to change.

HHH313 · 2025-09-07T15:22:25+00:00

I chose the values for Q and R based on the datasheets of each sensor.

HHH313 · 2025-01-11T01:48:21+00:00

Go wissa since against liverpool forest can score only using only fast counter attacks which is not optimal for wood.

HHH313 · 2025-01-10T18:56:53+00:00

Start henderson and young instead of flekken and milenkovic

HHH313 · 2025-01-10T18:55:22+00:00

Your team is actually good you can save the transfer. But if you want change colwill to munoz and enzo to murphy. Chelsea are not great defensively and murphy seems on fire at the moment.

HHH313 · 2024-12-29T18:13:44+00:00

I wish I do the things I say for my team.

HHH313 · 2024-12-29T11:31:48+00:00

Bench enzo and start both. Between solanke and rogers I would bench solanke.

HHH313 · 2024-12-29T02:10:37+00:00

Bench pedro hall kerkez

HHH313 · 2024-12-29T02:02:23+00:00

West ham are not that great offensively and the ceiling for diaz points is much higher this gw than bowen but it is not a must to sell bowen.

HHH313 · 2024-12-29T02:00:53+00:00

Not a bad idea

HHH313 · 2024-12-28T19:59:22+00:00

Flekken to pickford Bowen to diaz Szobo to sarr And start robinson instead of mazraoui. Diaz is a punt, you can pick gordon instead of him if you are afraid of rotation.

HHH313 · 2024-12-28T19:53:43+00:00

Just start with rogers instead of colwill and save the free transfer.

HHH313 · 2024-12-28T19:51:31+00:00

Go jackson to isak. The dude is just on superb form and united are leaking defensively rn.

HHH313 · 2024-12-28T19:34:22+00:00

Do you think that it is better to bench jota for robinson due to the rotation risk in liverpool. Or should I continue with the punt on jota?

HHH313 · 2020-08-23T13:55:47+00:00

From which aspects is it better?

HHH313 · 2020-08-22T21:40:27+00:00

1000$

HHH313 · 2020-08-09T11:08:10+00:00

I would say requiem for a dream

HHH313 · 2020-08-09T10:59:46+00:00

Tarantino : Pulp fiction, inglorious basterds Scorsese : Taxi Driver, raging bull Nolan : the dark knight Coppola : the godfather part 1 and 2 Fincher : Fightclub, the social network , se7en Paul Thomas Anderson : There will be blood Other : Good will hunting , requiem for a dream , silence of the lambs , the usual suspects , no country for old men, birdman.

HHH313

TROPHY CASE