How to simulate position in multirateEKFExample?

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Manuel Infante Francés 2023-3-13

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评论： Manuel Infante Francés 2024-1-23

How to simulate the estimation of positions in multirateEKFExample. The example shows the simulation of the predicted speed estimate. For this, I understand that the model with the selector block selects the east and west positions of the xTrue block before entering the EKF block. What should I select to estimate the position? East and west positions, east and west velocities?

Thank you

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Answer 1

Rishav 2023-5-4

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Hi Manuel,

In the multirateEKFExample, the EKF block estimates the position and velocity of the system based on the measurements from the sensors. The measurements consist of the true position and velocity of the system, as well as noisy measurements of the position and velocity.

To estimate the position, you should use the measurements of the true position from the xTrue block. These measurements are fed into the EKF block through the Selector block.

To estimate the velocity, you should use the measurements of the true velocity from the xTrue block. These measurements are also fed into the EKF block through the Selector block.

The noisy position and velocity measurements are used to correct the estimates of the position and velocity. The EKF block uses the Kalman filter algorithm to combine the noisy measurements with the predicted estimates of the position and velocity to produce an improved estimate of the position and velocity.

So, to summarize, you should use the true position and velocity measurements from the xTrue block to estimate the position and velocity of the system.

Regards,

Rishav Saha