# Tag Info

Accepted

### Unscented Kalman Filter for Dummies

I'm going to give you a high-level overview without going into much math. The purpose here is to give you a somewhat intuitive understanding of what is going on, and hopefully this will help the more ...
• 960
Accepted

### What is a good approach for outlier rejection during real time data filtering?

It is both acceptable and standard to use camera observations with a Kalman filter if you are talking about landmark positions in pixel or real-world space. Pixel space observations are usually ...
• 872
Accepted

### How exactly does sensor fusion work in Kalman filters?

I realize this question already has an accepted answer, but I'd like to provide some additional input. The question of sensor fusion is a good one, but, depending on the application, you don't ...
• 116

### How to estimate yaw angle from tri-axis accelerometer and gyroscope

Assuming your vehicle is roughly horizontal to the ground, you won't be able get a good estimate of yaw from the accelerometer. Consider the nominal case: when your accelerometer is pointing straight ...
• 2,729

### Open source implementations for GPS+IMU sensor fusion?

Yes. The px4 software for the pixhawk autopilot has an extended kalman filter that uses an accelerometer, a gyroscope, gps, and mag. A paper describing the a smaller ekf which only estimates attitude ...
• 1,823
Accepted

### Measurement model for Kalman filter but non-zero mean

There are actually several issues in this question which I will answer separately. 1) Error is: $$\sqrt{(x_m-x_{gt})^2}$$ No, error is just $$(x_m - x_{gt})$$ This may be part of your problem with ...
• 338
Accepted

### Modeling a robot to find its position

Assuming a constant update of 5Hz, your sample time is (1/5) = 0.2s. Get one position of the target, p1. Get a second position of the target, p2. Target speed is the difference in position ...
• 15.4k

### Ambiguous definition of Error-State (Indirect) Kalman Filter

Hi and welcome to the wide, ambiguous, sometimes confusing world of research. But seriously, looking at 20 years of papers will sometimes produce these confusions. Let's look at what's going on. In ...
• 5,222

• 15.4k

### How to estimate yaw angle from tri-axis accelerometer and gyroscope

yaw can be measured by rate gyro and magnetometer not with accelerometer because accelerometer values depends on gravity component but on rotation in z axis only there is no change in gravity ...
• 31
There is an error in your posted equation for the Jacobian $F_J$, so that could be the source of the problem. It should look like this: \$F_J = \begin{bmatrix} 1 & 0 & -C \sin \theta \\ C \...