(Sponsored) Extended Kalman Filter Software Implementation - Sensor Fusion #4 - Phil's Lab #73
Extended Kalman Filter (EKF) implementation and practical considerations. Real-world, real-time implementation and demo on an STM32 microcontroller in C using accelerometer and gyroscope measurements. Part 4 (final) of sensor fusion video series. (AD: This video includes a paid promotion for JLCPCB and Altium.) [SUPPORT] Free trial of Altium Designer: https://www.altium.com/yt/philslab (AD) PCBA from $0 (Free Setup, Free Stencil): https://jlcpcb.com/RHS (AD) Patreon: / phils94 [LINKS] Git: https://github.com/pms67 Sensor Fusion Part 3: • (Sponsored) Extended Kalman Filter - Senso... Sensor Fusion Part 2: • (Sponsored) Complementary Filter - Sensor ... Sensor Fusion Part 1: • (Sponsored) Accelerometers and Gyroscopes ... IIR Filters: • (Sponsored) IIR Filters - Theory and Imple... Small Unmanned Aircraft (Book): https://uavbook.byu.edu/doku.php Euler Angles: http://control.asu.edu/Classes/MMAE44... (from slide 17) [TIMESTAMPS] 00:00 Introduction 00:21 Altium Designer Free Trial (Ad) 00:44 JLCPCB and Design Files (Ad) 01:06 Pre-Requisites 01:53 'Low-Level' Firmware Overview 07:00 Axis Re-Mapping 08:17 Calibration 09:42 Filtering Raw Measurements 12:12 EKF Algorithm Overview 14:11 EKF Initialisation 17:12 EKF Predict Step 19:26 Matlab/Octave Symbolic Toolbox 21:11 EKF Update Step 22:16 Setting EKF Parameters 23:26 Debug Set-up and Tag-Connect SWD Probe 24:05 Live Demonstration 26:29 Practical Considerations ID: QIBvbJtYjWuHiTG0uCoK
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