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what are the models that could be used to model human motion on a plane (x, y, z rotation)? and how can I use kalman filter on IMU and indoor positioning/motion tracking to improve my estimate of the location of a human in a room? Also do you have any information about the error state kalman filter, could this be a future video you would like to work on?
Great Video! State space equatian really makes sense now. What about the measurement equation h? Do you derive it from the vehicle kinematics model or how do you implement it into the kalman filter algorithm?
The measurement Model H depends on the "sensor" you are going to use and in what space or coordinates its delivering it's values. For example, If you use GPS sensor and measurement are delivered as position x & y which matches to some of already existing elements in our state vector then it will be direct mapping and hence a linear measurement Model. The same for magnetometer which delivery heading angle or accelerometer which can be used to obtain absolute roll and pitch angles.
@@al-khwarizmi Thank you. I really appreciate your videos. Thanks to them, I was able to understand the kalman filter much better. But I'm still having problems with some issues. The most important of these is how you determined the Q and R vectors and are they constantly changing? And again, does the input covariance matrix U change because the input changes every cycle? Finally, is there a chance to explain the dimensions of all the variables here with an example (for example xk 3*1 vector, uk 2*1 vector so Uk is 3*3 matrice, etc.)
Given there are n state variables and m input variables then the Dimension would be: Vec x: n*1 - state vector Vec u: m*1 - input vector Cov U: m*m - input noise covariance Cov Q: n*n - process noise covariance Cov P: n*n - state covariance Mat F: n*n - state transition matrix Mat B: n*m - input transition matrix
السلام عليكم أنا مبتدئ جدا جدا ومحتاج افهم استخدام كالمان فلتر في دمج البيانات من أكثر من مصدر لأني محتاج استخدمه في تطبيق آخر غير سيارات ذاتية القيادة
