This seems like a great explanation; it does use some maths symbols though. It concludes with an implementation of a Kalman filter in Matlab; perhaps you find that more palatable.
unwind
2009-10-19 06:40:38
A:
Thank you for your reply. I've looked through the link you sent me, while it does a good job at explaining a Kalman filter, it doesn't describe how to combine two sensor values into one, which is what I really need.
Dylan Vester
2009-10-19 16:05:33
+2
A:
Gamasutra.com ran an article on using Kalman filters for WiiMote filtering.
There are some links to C++ source code at the end of the article.
Vatine
2009-10-19 14:34:37
I appreciate your response. This article is also great, but I really need to know how to use a Kalman (or other) filter to combine two sensor values, instead of just smoothing one.
Dylan Vester
2009-10-19 16:06:34
From what I understand, you smooth one, then use that to apply a corrective factor to the other. Can't say I FULLY understand how it's supposed to work, though.These <a href="http://www.tlb.org/scooter2.html">two</a> <a href="http://www.tlb.org/scooter.html">articles</a> may be of help.
Vatine
2009-10-20 08:40:05
+3
A:
Kalman Filters are great and all, but I find the Complementary Filter much easier to implement with similar results. The best articles that I have found for coding a Complementary Filter are this wiki (along with this article about converting sensors to Engineering units) and a PDF in the zip file on this page (Under Technical Documentation, I believe the file name in the zip is filter.pdf);
PS. If your stuck on a Kalman Filter, here is some C-syntax code for the Arduino that implements it.
kersny
2009-10-19 18:45:34
FANTASTIC, I believe this may be exactly what I was looking for. The Filter.pdf file was really the big help, and explained and solved my exact problem. I haven't verified it yet (I'm at work). But tonight, I'll try and get this going and mark my question as answered!
Dylan Vester
2009-10-19 20:09:27
Glad I could help! If you want to see an example of it in action, check out my blog at http://www.ohscope.com. I built a Segway like balancing scooter, and I will be putting up more data soon.
kersny
2009-10-19 20:44:21