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votes
1answer
78 views

What are wheel ticks and wheel impulses?

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and we have odometry data provided to us which gives the x-position of the vehicle, y-position of the vehicle ...
0
votes
2answers
63 views

Convert Vehicle coordinates to World coordinates for positioning

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and the idea is to check for improvements in position estimation through fusion of data from multiple sensors (...
0
votes
2answers
284 views

IMU and encoder fusion

I'm trying to simulate data fusion for a 4-wheeled mobile robot using ekf and am using IMU and wheel encoders as sensors,where IMU measures linear acceleration and angular velocity and encoder ...
1
vote
0answers
34 views

Kalman filter with measurements indirectly determining state

I have a question regarding a 'fundamental' understanding of the Kalman filter. So, for my application I'm trying to estimate state $x = [\theta~\dot{\theta}~\ddot{\theta}]$ of a robot based on ...
0
votes
1answer
81 views

Robot localization using sensor fusion (How to model the Extended Kalman Filter)?

I am new to the robotics field and sensor fusion as well. I am trying to localize my robot using the data from my camera and the odometery through extended Kalman filter. I have the data offline, I ...
0
votes
2answers
111 views

Robot heading uncertainty values

I'm tracking the state of a robot using an EKF defined by: $$(x,y,\theta)$$ where $x$ and $y$ are the coordinates in the ground-plane and $\theta$ the heading angle. I initialized the covariance ...
2
votes
1answer
360 views

State prediction of vehicle with Ackermann steering geometry using Kalman-Filter

I am trying to have a Kalman-Filter (or Extended-KF) give me positions for a small remotely controlled vehicle with an Ackermann steering geometry (moving on a plane surface). The control commands I ...
2
votes
2answers
262 views

Odometry motion model for Kalman filter, but is the error zero mean?

I was planning on using the odometry model in the prediction stage of an Extended Kalman Filter. State transition equations: $$ f(X_t,a_t) = \begin{bmatrix} x_{t+1} = x_t + \frac{\delta s_r + \delta ...
5
votes
2answers
496 views

Need help regarding development of Extended Kalman Filter for sensor-data fusion of odometry and IMU data

I'm trying to develop an Extended Kalman Filter (EKF) for the positioning of a wheeled vehicle. I have a 'Baron' robot frame with 4 static wheels, all driven by a motor. On the 2 rear wheels I have an ...
3
votes
1answer
421 views

Accurate Wheeled Robot Odometry

I'm looking for a "good" algorithm/model for wheeled odometry estimation. We have encoders on the two back wheels of the tricycle robot, and IMU on the controller board. Currently we use MEMS gyro for ...
5
votes
1answer
1k views

Simple Sensor Fusion for pose estimation

I am currently working on a balancing robot project, which features fairly low-cost sensors such as an 9-Dof IMU with the measurement states $\textbf{x}_\text{IMU} = \left[a_x, a_y, a_z, g_x, g_y, ...
4
votes
2answers
714 views

Structuring EKF to estimate pose and velocity with odometry inputs

I have a differential drive robot for which I'm building an EKF localization system. I would like to be able to estimate the state of the robot $\left[ x, y, \theta, v, \omega \right]$ where $x, y, \...
4
votes
1answer
831 views

Kalman filter Issue - GPS Odometry Fusion

I am working on estimating a robots pose using Odometry and GPS. My first problem is that all kinematic model i have seen for a differential drive robot proposes using the displacement of the left ...
17
votes
3answers
4k views

What are good methods for tuning the process noise on Kalman filters?

Most often tuning the Kalman filter noise matrices is done by trial and error or domain knowledge. Are there more principled ways for tuning all the Kalman filter parameters?