Mixing
Kalman Filter with same A, B and C, D matrices
$begingroup$
I am trying to work on a toy problem of EKF which consists of a Kinematic Model of a bicycle. The model is as follows:Kinematic Model
I have linearized the model with inputs as u and delta_f(steering angle)
I am considering the available measurements are x_dot, y_dot and psi_dot
I am confused how to include the measurement model? Will it be same as the process model? This will make the system unobservable but I believe it will be detectable.
I am trying to perform full state estimation using EKF.
Any inputs will be valuable.
estimation kalman-filter
asked Feb 1 at 18:48
controlsgeekcontrolsgeek
12
$endgroup$
add a comment |
$begingroup$
I am trying to work on a toy problem of EKF which consists of a Kinematic Model of a bicycle. The model is as follows:Kinematic Model
I have linearized the model with inputs as u and delta_f(steering angle)
I am considering the available measurements are x_dot, y_dot and psi_dot
I am confused how to include the measurement model? Will it be same as the process model? This will make the system unobservable but I believe it will be detectable.
I am trying to perform full state estimation using EKF.
Any inputs will be valuable.
estimation kalman-filter
asked Feb 1 at 18:48
controlsgeekcontrolsgeek
12
$endgroup$
add a comment |
$begingroup$
I am trying to work on a toy problem of EKF which consists of a Kinematic Model of a bicycle. The model is as follows:Kinematic Model
I have linearized the model with inputs as u and delta_f(steering angle)
I am considering the available measurements are x_dot, y_dot and psi_dot
I am confused how to include the measurement model? Will it be same as the process model? This will make the system unobservable but I believe it will be detectable.
I am trying to perform full state estimation using EKF.
Any inputs will be valuable.
estimation kalman-filter
asked Feb 1 at 18:48
controlsgeekcontrolsgeek
12
$endgroup$
I am trying to work on a toy problem of EKF which consists of a Kinematic Model of a bicycle. The model is as follows:Kinematic Model
I have linearized the model with inputs as u and delta_f(steering angle)
I am considering the available measurements are x_dot, y_dot and psi_dot
I am confused how to include the measurement model? Will it be same as the process model? This will make the system unobservable but I believe it will be detectable.
I am trying to perform full state estimation using EKF.
Any inputs will be valuable.
estimation kalman-filter
estimation kalman-filter
asked Feb 1 at 18:48
controlsgeekcontrolsgeek
12
asked Feb 1 at 18:48
controlsgeekcontrolsgeek
12
edited Feb 1 at 18:54
controlsgeek
asked Feb 1 at 18:48
controlsgeekcontrolsgeek
12
asked Feb 1 at 18:48
controlsgeekcontrolsgeek
12
asked Feb 1 at 18:48
controlsgeekcontrolsgeek
12
12
add a comment |
add a comment |
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