Jupyter Notebook Examples

Kalman Basics Practice

• Signal Filtering
• Measurement Filtering
• Kalman Filtering Background
• Basic Examples from Kim
  • Chapter 10.2: Estimating a Constant Voltage
  • Notes Radial Position Example
    • Run a Simulation
  • Chapter 11.2 & 11.3: Estimating Velocity from Position
    • Run a Simulation
  • Chapter 11.4: Estimating Position from Velocity
  • Chapter 11.5: Measuring Velocity with Sonar
• Nonlinear Kalman Filter
  • Chapter 14 Extended Kalman Filter (EKF)
    • Run a Simulation
  • Chapter 15 Unscented KalmanFilter (UKF)
    • Preliminaries
    • Verify that SigmaPoints() and UT() are working:
    • Run a Simulation
  • References

Kalman GPS Practice

• Kalman Filter Variables
• General Extended Kalman Filter (EKF) Block Diagram
• Application to GPS using Simulated User and Satellite Trajectories
  • A Simple Example
    • Generate a 3D View of the Trajectories
      • Develop a GPS EKF
      • Simulated Pseudo Range from the User and Satellite Trajectories
      • The EKF Class for Estimating Position from the Pseudorange Measurements
      • Case #1
  • Run Simulation for Case #1
  • The ECEF User Track
  • Selected Error Covariance Results for the Simulation Run
  • Convert the ECEF User Trajectory Back to ENU Local Coordinates
  • Run simulation for Case #2
  • Simulation for Case #2
  • The ECEF User Track
  • Selected Error Covariance Results for the Simulation Run
  • Convert the ECEF User Trajectory Back to ENU Local Coordinates