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So this probably won't work as course over ground and heading are often 2 different things. Heading is the direction your vehicle is facing, while course over ground is the direction your vehicle is traveling. Imagine a boat facing north, and it is in a drift current flowing east to west. Your heading is north, but your course over ground is west, as the ...


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An EKF or any of the variants of the Kalman filter, as you said mainly works in two steps: prediction and correction. The prediction steps gives you a state estimate based on your process model and the correction step updates your state estimate based on the current measurement. If you have multiple measurements from more than one sensor, you would just ...


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The EKF is a first-order approximation, which is achieved by linearizing the system about the current state estimate (i.e., the mean). In some cases, the EKF is not stable due to nonlinearities. For example, if the system is highly nonlinear, then the EKF might not work well. In contrast, the UKF uses the unscented transform , which is a function to estimate ...


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If GPS course heading angle is computed as edwinem described — that is, as the slope of a line crossing the sensor's current and previous coordinates in $(x, y)$ notation — and the robot's always headed towards the direction of movement, then IMU heading and GPS heading readings are relative to the same reference frame, and they can be directly fed to the ...


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A followup on holmeski's reply. It seems those pages have been taken down. I found the old webpages on the 'Way Back Machine'. Pixhawk Attitude Estimator (EKF) Pixhawk ekf_att_pos_estimator (Application)


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Short answers: In my case, the Camera provides the x,y,z position with respect to April Tag. And IMU provides x,y,z position with respect to its starting point. How these two different position information fused together help in improving the position accuracy of my system ?? With an Extended Kalman Filter(EKF). IMU for short term prediction step, and ...


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Question Is it necessary to use any filter to fuse Ublox ZED-F9K's GNSS and IMU/Odometry data? Answer My answer is NO, for the following reasons: (1) GNSS and IMU are independently developed modules with matured software. It is unlikely for the vendor to "fuse" them at the hardware level. A more efficient method is to let the MCU/SBC to talk to ...


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There are many possible routes you can take. You mentioned CAN. CANOpen is built on CAN and is used in many automation and robotics related devices. CANOpen specifies a SYNC mechanism exactly for the purpose you mention. More about this here. As for cycle times, the bandwidth and exact message size of CAN packets is knows, so cycle times are easy to ...


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