# Tag Info

## Hot answers tagged ekf

Accepted

• 14.6k

### Should I use or not EKF for Baro-Acc altitude estimation?

EKFs are appropriate when you have nonlinear equations describing the system, either in the system dynamics or the measurement dynamics. In this case, I think a plain KF should be sufficient assuming ...
• 1,825
Accepted

### Unscented Kalman Filter VS Extended Kalman Filter on stability

You mentioned that EKF wasn't very robust for your application. This means that the continuous time model is considerably non-linear. In this setting, the UKF is better than the EKF and handles the ...
• 146

### How is gyroscope bias exposed and tracked?

I think you're confused. The method you're talking about would only really work if you know the magnitude and orientation of the accelerations you're trying to measure. If that's the case, then why ...
• 14.6k

### EKF singularity problem when measurement noise R is zero

I think you need to step back a bit and think beyond the math. An (E)KF is used to estimate the true value of a signal in the presence of noise; it's only because of this noise that we even need the ...
• 2,679
Accepted

### extended kalman filters, linearization of output

Hi and welcome to stack exchange: robotics edition. Yes. Your derivation for the landmark update Jacobian is correct. If you are doing SLAM with respect to the landmarks, don't forget to form the ...
• 5,142

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