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Using This Code for AHRS or VRU applications #22
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Hello, @rafaelmendy |
Thanks for reply. |
@rafaelmendy you are right and I have similar observations over other implementations of AHRS, they do only use accelerometers to correct gyro bias. The thing with this formula |
@xeonqq yes you are right. In dynamic tasks, formulas like something that i mentioned, is problematic. But actually this is the magic of kalman filter that fuse (1)gyro, with ability to compensate for high dynamics with integration, and (2) accelerometers for compensating integration errors in longer times. the only error that can not be handled with this fusion is long term accelerations like centrifugal acceleration in loiter movement. specially if the radius of loiter is small. in these situations only a position or ground speed sensing (like gps) can compensate the estimation error. |
Hi
Thanks for your impressive code.
I want to use your code as a VRU estimation code. I mean, just estimating roll and pith angles.
So in this application, the only observations are delta_angles and aelta_velocities. but in your code both of them are variable parameters and not observations. So i don't know how to run correction step in kalman filter. because there is no observation.
Can anyone tell me that, how to use this algorithm in such situations?
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