Kalman Filter for a tilt sensor using accelerometer and Gyroscope
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Uploaded by superballistic on Jul 2, 2009
This is a real time application of Kalman filter for a combination of accelerometer and Gyroscope to measure the angle of tilt but you can see its not perfect the point where accelerometer output angle changes from 180 to -180 degree or -180 to 180 degree there the filter goes crazy :D.............if anybody got any solution mail it to tanmaymandaliit@gmail.com :)....thnx in advance :)
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Uploader Comments (superballistic)
All Comments (5)
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It's probably your covariance matrices. They are really influential in Kalman algorithm. Try to find the best covariances.
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The fact that it flips is probably due to your representation of the angle. Imagine you getting to 360 degrees and then going slightly further... you will go back to 0 degrees. The kalman filter will probably see this as not very probable and will assume you have rotated.
What you can do about it is change the representation of your angle, using a quaternion or taking the sine or so of the angle. Something that doesn't jump from max to min.
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Hi, I am interested to buy the "black rectangle" that you have in your hands. Are you interested?
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sorry I cant see you this as its not mine :D
superballistic 2 years ago