Interactive web site of Télécom ParisTech's ELECINF344/ELECINF381 Robotics and Embedded Systems classes (a.k.a. ROSE, 2012 session).


BallE Kalman

As mentioned by Pierre-Hugues, we got the Kalman filter working today (C++ and OpenGL simulation). The Matlab implementation seems to work as well. The results are shown below. One tiny problem is left for the conversion from the estimated quaternion to the Euler angles (as we can see here for yaw: the plots have an offset…). This is not the case for the C++/OpenGL :)

Otilia Anton

Possibly related posts:

  1. BallE Kalman
  2. BallE – mechanics and control review
  3. Kalman, PCB and paper
  4. BallE kicks off

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