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Robotics Beta

Questions tagged [filter]

In general a filter is what removes noise and other unwanted components from the useful signal. It can be analog or digital filter and also there are many software implemented filters.

15 questions
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1answer
107 views

Noisy magnetometer data

I’m looking to develop an AHRS for which I’m using a magnetometer to correct for heading errors. I wanted to check that the magnetometer I'm using is functioning to the level of accuracy (+- 1 degree) ...
1
vote
1answer
34 views

Why information filter called information filter

We all know Information Filter is a dual representation of kalman filter. The main difference between information filter and kalman filter is the way the Gaussian belief is represented. In kalman ...
0
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0answers
34 views

When should I use a Histogram filter instead of a Particle filter?

After reading Probabilistic Robotics, I haven't been able to determine when one filter (particle vs. histogram) is necessarily better than the other. Both methods accomplish the same task in fairly ...
2
votes
1answer
103 views

Tracking vehicle 6 states extended kalman filter required?

I'm trying to track an accelerating vehicle using a camera, an IMU, and a GPS. I use for the state space equation a constant acceleration model: The states are the position, the velocity, and the ...
2
votes
1answer
321 views

How to implement RANSAC and kalman filter or particle filter algorithms with ROS packages?

I'd like to implement those algorithms by using ROS packages to solve one way the SLAM problem. I know that gmapping, Rviz, slam_gmapping and robot_pose_ekf (for extended kalman filter) could be ...
3
votes
4answers
727 views

Alternatives to Kalmam Filter

I am currently working on a self balancing robot project. I am going to use a MPU6050 to get data from both the accelerometer and the gyroscope. Since I need to get accurate data in a very small ...
5
votes
1answer
1k views

Complimentary filter issues

I'm trying to implement the complimentary filter to get Euler angles using accelerometer and gyroscope data. Attached is the MATLAB code that I have along with a data set. The data corresponds to ...
2
votes
1answer
121 views

How to update an EKF when no inputs are available?

I'm using an Extended Kalman filter where the motion model is a function of the states and the inputs, with additive white noise, i.e. $$ x_k = f(x_{k-1},u_{k-1}) +\delta_{k-1} \quad , \quad \delta_{...
5
votes
1answer
57 views

How to produce a continuous variation of a discontinuous function?

I have a differential equation that connects the "velocity" of a point in the FOV of a camera with the velocities of a robot's joints, that is $$\dot s=J(s) \dot q$$ where s is a vector with the $x$,$...
1
vote
1answer
266 views

Bayesian filter for 2-D grid localizaton

I have some data obtained from an experiment in terms of movements and observations with odometry and sensor data. My task is to find the probability mass on each of the grid cells after each set of ...
1
vote
1answer
271 views

P gain tuning for quadcopter (Is my perception for a P-gain too high correct?)

Good day, I am currently working on a project using Complementary filter for Sensor fusion and PID algorithm for motor control. I viewed a lot of videos in youtube as well as consulted various blogs ...
2
votes
1answer
570 views

Filtering IMU angle discontinuities

I try to measure Euler angles from an IMU, but some discontinuities happens during measurement, even in vibrationless environment, as shown in the images below. Can someone explain which type of ...
5
votes
3answers
543 views

Filtering angular velocity spikes of a cheap Gyroscope

I would like to filter angular velocity data from a "cheap" gyroscope (60$). These values are used as an input of a nonlinear controller in a quadcopter application. I am not interested in removing ...
2
votes
2answers
2k views

Gyroscope - How can I remove low frequency component with a high pass filter only?

I'm using Matlab to suppress low frequency components with a high pass filter. Objective Filter angular velocity measurements affected by high frequency noise and bias in order to get the best ...
3
votes
1answer
251 views

How to use a POMDP-based planner on top of a probabilistic filter

POMDPs extend MDPs by conceiling state and adding an observation model. A POMDP controller processes either action/observation histories or a bayesian belief state, computed from the observations (...