Re: Kalman Filter and INS

On Mon, 13 Apr 2009 14:04:18 -0500, arvkr wrote:

Here is what i have, a measurement of a distance from an external sensor
at a lower sampling rate and acceleration measurements from
accelerometer ( IMU at a higher rate). How can i use a kalman filter to
fuse these to produce a good estimate of the position travelled. What
would be A, B, H, R, Q if i were to use a kalman filter. Any help will
be appreciated.

First, why don't you model the system? Model it as if you weren't using
the Kalman, but as if you cared about the quantity that the Kalman is
measuring. This means you should include the outputs that you really
care about (or just note them if they're states), and include an output
of the predicted value of the measurement that you're going to take.

--
http://www.wescottdesign.com
.

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