Monday, April 5, 2010

Kalman Filter plot on Matlab

The following is the matlab plot of my Kalman filter performance. the motors were turned on at about 40% of the full speed and the UAV was swinged with a push.

you can see that the drift of the gyro and the noise of the accelerometer has been removed by the Kalman filter.

1 comment:

  1. The kalman filter was implemented in the microcontroller. If this is the case, did you implement a the full kalman algorithm, or you used the values when the kalman has converged ...