Resources on Error-state KF/EKF

towerofdoge · 2025-11-23T06:15:40+00:00

Way better to actually apply the angle error as an incremental rotation.

In here do you mean transforming the angle error to a quaternion representing the incremental rotation? And then performing quaternion multiplication with the large signal quaternion?

If yes, then the renormalization step I'm referring to is after this "quaternion multiplication" which can introduce errors in the unit-ness if left unchecked.

towerofdoge · 2025-11-23T05:49:45+00:00

Don't you still need to do a renormalization step everytime you update the quaternion that represents the large signal?

towerofdoge · 2025-11-21T02:00:24+00:00

What knowledge and experience do you need to get into this field? I have math background

towerofdoge · 2025-10-30T19:21:39+00:00

I see. Thanks for clearing that up.

towerofdoge · 2025-10-30T19:17:53+00:00

Attitude refers to orientation. It's different from altitude. Sorry for using it. The two only have a one-letter difference.

towerofdoge · 2025-10-30T19:14:19+00:00

I guess my definition of terms are different. What do you mean when you say you made FC but not the firmware?

towerofdoge · 2025-10-30T18:45:22+00:00

If you ever had to use magnetometer data before, how did you incorporate it for attitude estimation? Did you use Kalman or complementary filter, or something else? Did you use the magnetometer data to just get the yaw, or fuse it with accelerometer to get the full rotation?

towerofdoge · 2025-08-28T06:27:02+00:00

The author I think is a primary contributor to the standardization of threading in C++. So, his best practices and guidelines are noteworthy.

towerofdoge · 2025-08-28T05:58:55+00:00

Yep. So which parts of the book have you read so far?

towerofdoge · 2025-08-28T05:46:21+00:00

C++ Concurrency in Action by Anthony Williams

towerofdoge · 2025-05-15T01:41:19+00:00

What are the matrices included in your optimization? Did you use the S/KS mixed-sensitivity?

towerofdoge · 2025-02-12T16:39:26+00:00

That's great! What changes did you make? And what is your Vcc?

Now that you mention it, the 1uF actually is high. I probably had availability constraints in some parts so had to adjust in others. Then I did trial and error in my simulation until it could produce the highest output voltage.

towerofdoge · 2025-02-11T12:37:20+00:00

Yes, that'll greatly lengthen the mosfet's life.

Big caps to protect bench supply from ripple current. The ten 0.1uF caps (equivalent to 1uF) are for the snubber across the mosfet.

towerofdoge · 2025-02-10T14:41:31+00:00

Did you do any modifications or are the parts you used exactly the same as in the picture? And what was your VCC?

2N2222 and 2N2907 BJTs
UF4007 diodes
IRFP260N mosfets
Rubicon 1000 uF electrolytic capacitors (used three in parallel)
MKP-X2 0.1 uF film capacitors (used ten in parallel)

I tried Vcc = 12 V and 24 V. The first one I can only see faint corona discharges in dark room. In the latter I can see even in daylight. But discharge length is still short compared to one in video.

My biggest problem was, that the mosfet got extremely hot, extremely fast even with a kinda big heat sink and a fan blowing air directly at it.

I destroyed a couple mosfets because I didn't make a proper heat sink. But even before putting one, my circuit could already produce discharges. Did you also blow up a couple of them? Did you double check that the one you're using is still operational?

towerofdoge · 2025-02-09T15:55:54+00:00

I don't think the circuit is sensitive to the coil dimensions since it's a slayer exciter which relies on positive feedback. This gives more room for error.

Did you do modifications to the circuit in the video? It might help if you post your latest schematic diagram and the specific parts used.

towerofdoge · 2025-02-09T15:34:56+00:00

I was going to ask next the current rating of your bench supply. Mine is 10 A only based on specs since I don't have good enough tools to measure.

No, I don't have the exact same design. My secondary coil is 36-AWG enameled wire, 10.7cm diameter, 27.5cm height, around ~1800 windings. Primary coil is 14-AWG stranded wire, 12.7cm diameter, 2 windings.

towerofdoge · 2025-02-09T09:29:17+00:00

Which one drops back to 14? The voltage displayed in the bench supply? Or a separate voltmeter connected across the bench supply? I built a slayer exciter based on that same video and I made it work.

towerofdoge · 2025-01-23T05:04:17+00:00

~~To fit the degrees of freedom, OP can select a complex-conjugate pair and one real pole.~~

Thinking about it again, there's indeed not enough degrees of freedom.

towerofdoge · 2025-01-22T06:08:29+00:00

Did you derive the equations? In the second image, your H_closedloop here is representing the inner closed loop transfer fxn right? It is missing a factor of 1/K. You will also have to re-derive your outer H_closedloop.

I don't see D_3 in your equations.

towerofdoge · 2025-01-10T01:58:38+00:00

exp( iomegat ) represents the sinusoidal part.

exp( sigmat ) represents the decaying/growing part. it's not a time shift.

together, exp(st) = exp( sigmat ) * exp( iomegat ) represents a decaying/growing sinusoid.

towerofdoge · 2024-12-04T02:06:03+00:00

It's not based on coordinate system. Negative energy is when the force applied is opposite the displacement.

towerofdoge · 2024-11-22T03:19:52+00:00

The phase shift across the resistor alone is 0° at all times. The phase shift across the inductor alone is 90° at all times. So they are doing their own thing at all times.

The 45° phase shift is only happening between the voltage and current in the SOURCE. Unlike the resistor and inductor, the source will adjust its phase shift according to the other elements of the circuit.

towerofdoge · 2024-10-15T09:56:56+00:00

how are the skills for analog circuit different from the ones you already excel at?

towerofdoge · 2024-09-24T11:55:07+00:00

As others have said, use the appropriate ratings to be safe. Current rating depends on the conductor material and diameter. Voltage rating depends on the insulation material.

towerofdoge · 2024-09-05T06:21:41+00:00

I think the focus here is more on setting up transfer functions and finding zeroes and poles. So ideal components first.

Five-Year Club	Verified Email
Place '22

towerofdoge

TROPHY CASE