Kalman filter estimate drifting

2 次查看（过去 30 天）
saikat mondal
saikat mondal 2024-12-25
I'm seeking some help to tune the EKF, I'm using https://in.mathworks.com/help/nav/ref/insfilterasync.html this example for asynchronous sensor fusion using discrete EKF from matlab.
I tried with automatic tuning process from matlab example but same issue observed. The EKF does not converge but slowly drifting it's euler estimation from quat. I'm using MPU9250 as an IMU and and GPS data(position+velocity) from UBLOX M8N. Sensors are also calibrated properly.
Here is my matlab code and data file : https://github.com/Saikat-Eng/Async_EKF

请先登录，再回答此问题。

回答（0 个）

类别

在 Help Center 和 File Exchange 中查找有关 Adaptive Filters 的更多信息

标签

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by