Altitude Kalman Filter :
AccX Kalman Filters :
AccY Kalman Filters :
AccZ Kalman Filters :
Magnitude Of ACCELERATION Kalman Filters :
Alt, Est Alt, AccX, Est AccX, AccY, EstAccY, AccZ, EstAccZ, Mag, EstMag 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -0.01 -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.48 0.12 -0.5 -0.13 -0.7 -0.17 9.86 2.46 9.897454218131044 2.4692913963321543 2.17 0.53 -0.5 -0.2 -0.7 -0.28 9.86 4.06 9.897454218131044 4.074555190447173 4.35 1.18 -0.5 -0.25 -0.7 -0.35 9.86 5.15 9.897454218131044 5.167929953085665 6.92 2.04 -0.5 -0.29 -0.7 -0.4 9.86 5.93 9.897454218131044 5.950546193417878 8.93 2.98 -0.5 -0.31 -0.7 -0.44 9.86 6.51 9.897454218131044 6.532212488889197 10.93 4.0 -0.5 -0.33 -0.7 -0.47 9.86 6.96 9.897454218131044 6.983652339571322 12.96 5.08 -0.5 -0.35 -0.7 -0.49 9.86 7.31 9.897454218131044 7.334759709765549 15.4 6.29 -0.5 -0.36 -0.7 -0.51 9.86 7.59 9.897454218131044 7.615628667418075 17.84 7.6 -0.5 -0.38 -0.7 -0.53 9.86 7.82 9.897454218131044 7.847145977997351 19.44 8.94 -0.27 -0.37 0.49 -0.45 9.78 8.01 9.795988975085669 8.03115807340386 22.02 10.4 -0.27 -0.36 0.49 -0.38 9.78 8.16 9.795988975085669 8.176771979210377 23.81 11.91 -0.7 -0.38 0.22 -0.34 9.74 8.29 9.767599500389029 8.305666740244277 26.05 13.51 -0.5 -0.39 0.18 -0.3 9.9 8.42 9.91425236717323 8.434364232116135 28.09 15.18 -0.5 -0.4 0.33 -0.27 9.52 8.5 9.538831165294834 8.513688977170824 30.46 16.95 -0.35 -0.39 0.03 -0.25 9.71 8.58 9.716352196169098 8.592496726796002 32.43 18.77 -0.35 -0.39 0.03 -0.23 9.71 8.65 9.716352196169098 8.661841605570954 34.87 20.7 -0.35 -0.39 -0.09 -0.23 9.86 8.73 9.866620495387465 8.741733237750967 36.86 22.67 -0.43 -0.39 -0.24 -0.23 9.94 8.8 9.952190713606727 8.811640028961692 37.89 24.56 -0.43 -0.39 -0.13 -0.22 9.44 8.83 9.45068251503562 8.84134605136571 37.55 26.19 -0.39 -0.39 -0.09 -0.22 9.05 8.85 9.058846504936488 8.861320443365086 37.98 27.65 -0.39 -0.39 -0.09 -0.21 9.05 8.86 9.058846504936488 8.871065324976476 38.51 28.97 -0.39 -0.39 -0.24 -0.21 9.86 8.9 9.870628146171853 8.911015654794912 38.36 30.09 -0.39 -0.39 -0.24 -0.21 9.86 8.95 9.870628146171853 8.960954190263445 38.25 31.02 -0.08 -0.38 -0.13 -0.21 9.74 8.98 9.741196025129565 8.990489419380905 38.34 31.83 -0.08 -0.37 -0.13 -0.21 9.74 9.02 9.741196025129565 9.03002768545036 38.64 32.56 -0.08 -0.36 -0.13 -0.2 9.74 9.05 9.741196025129565 9.05936531993274 38.48 33.16 0.11 -0.34 0.03 -0.2 9.67 9.07 9.670672158645438 9.078573676519898 38.13 33.64 0.11 -0.33 0.03 -0.19 9.67 9.1 9.670672158645438 9.107963548455823 38.09 34.06 -0.24 -0.33 -0.82 -0.21 9.71 9.12 9.747517632710393 9.128384303917096 37.83 34.39 0.07 -0.31 0.03 -0.2 9.32 9.13 9.320311153604262 9.137450410262154 37.97 34.69 0.07 -0.3 0.03 -0.19 9.32 9.13 9.320311153604262 9.136903195284495 37.73 34.93 -0.85 -0.32 -0.05 -0.19 9.63 9.15 9.667569498069305 9.157565178583225 36.71 35.07 -0.85 -0.33 -0.05 -0.19 9.63 9.17 9.667569498069305 9.177902810555361 33.93 34.99 -3.19 -0.41 -7.98 -0.41 2.58 8.95 8.972898082559503 8.968762456437343 31.49 34.75 -3.19 -0.49 -7.98 -0.63 2.58 8.74 8.972898082559503 8.77636599054529 28.71 34.35 -3.19 -0.57 -7.98 -0.86 2.58 8.53 8.972898082559503 8.592170854912045 26.97 33.87 -3.19 -0.64 -7.98 -1.08 2.58 8.32 8.972898082559503 8.414178510110181 24.24 33.24 -3.19 -0.71 -7.98 -1.31 2.58 8.11 8.972898082559503 8.245744356939523 21.94 32.49 -3.19 -0.78 -7.98 -1.54 2.58 7.91 8.972898082559503 8.096178110689019 19.43 31.59 -3.19 -0.85 -7.98 -1.77 2.58 7.71 8.972898082559503 7.956098289991144 16.96 30.53 -3.19 -0.91 -7.98 -1.99 2.58 7.52 8.972898082559503 7.831896322092115 15.0 29.33 -3.19 -0.98 -7.98 -2.21 2.58 7.33 8.972898082559503 7.718380659179748 12.12 27.93 -3.19 -1.04 -7.98 -2.43 2.58 7.15 8.972898082559503 7.622925947429898 9.94 26.36 -3.19 -1.1 -7.98 -2.64 2.58 6.97 8.972898082559503 7.533956463903943 7.4 24.59 -2.23 -1.13 1.64 -2.48 9.59 7.08 9.981512911377713 7.586415490862599 5.16 22.65 -2.23 -1.16 1.64 -2.32 9.59 7.17 9.981512911377713 7.624755733792394 3.03 20.56 -1.04 -1.15 -9.17 -2.58 2.81 7.01 9.64710319215048 7.5577112937714155 1.19 18.37 -1.12 -1.15 -9.09 -2.84 2.93 6.85 9.615997088185916 7.504038912479065 0.43 16.24 -1.12 -1.15 -9.51 -3.12 2.81 6.7 9.979509005958159 7.479766039121812 0.16 14.26 -2.15 -1.18 -4.76 -3.19 9.36 6.8 10.718661297009062 7.603190119943076 -0.05 12.47 0.18 -1.14 -0.09 -3.06 9.74 6.91 9.742078833596041 7.642728570347111 0.07 10.92 0.03 -1.12 -0.66 -2.96 9.63 7.01 9.652636945415487 7.691300280186699 0.91 9.69 -0.04 -1.09 -0.62 -2.87 9.78 7.11 9.799714281549232 7.7444883627002765 1.06 8.66 -0.01 -1.07 -0.62 -2.78 9.63 7.21 9.649943005013036 7.801115304877887 0.89 7.77 0.07 -1.04 -0.66 -2.7 9.82 7.3 9.84240316182994 7.8524900509328885 0.0 6.91 0.0 -1.02 0.0 -2.6 0.0 7.04 0.0 7.5737705272869205 0.0 6.18 0.0 -0.99 0.0 -2.5 0.0 6.78 0.0 7.293730184206159 0.0 5.55 0.0 -0.97 0.0 -2.41 0.0 6.52 0.0 7.0185041141257445 0.0 5.01 0.0 -0.95 0.0 -2.32 0.0 6.27 0.0 6.752614308547468 0.0 4.54 0.0 -0.93 0.0 -2.24 0.0 6.02 0.0 6.490215712901998 1.25 4.25 1.25 -0.88 1.25 -2.12 1.25 5.82 2.165063509461097 6.256292832021213 0.0 3.89 0.0 -0.86 0.0 -2.04 0.0 5.59 0.0 6.012428793757145 1.31 3.68 1.31 -0.82 1.31 -1.92 1.31 5.41 2.2689865579152295 5.7988705796904965 0.0 3.4 0.0 -0.8 0.0 -1.86 0.0 5.19 0.0 5.570969394997607 1.43 3.25 1.43 -0.75 1.43 -1.74 1.43 5.03 2.4768326548234945 5.375034883607734 0.0 3.03 0.0 -0.74 0.0 -1.68 0.0 4.82 0.0 5.157751448063391 1.74 2.94 1.74 -0.69 1.74 -1.57 1.74 4.69 3.013768405169847 4.993706038604996 0.0 2.75 0.0 -0.67 0.0 -1.52 0.0 4.5 0.0 4.796801017344789 0.0 2.58 0.0 -0.66 0.0 -1.47 0.0 4.31 0.0 4.60136936139667 1.27 2.5 1.27 -0.62 1.27 -1.38 1.27 4.18 2.199704525612474 4.445357128510599 0.0 2.36 0.0 -0.61 0.0 -1.33 0.0 4.01 0.0 4.2686180433484555 0.0 2.23 0.0 -0.6 0.0 -1.29 0.0 3.85 0.0 4.104460987754665 0.0 2.11 0.0 -0.59 0.0 -1.25 0.0 3.69 0.0 3.940393381377042 0.0 2.0 0.0 -0.57 0.0 -1.21 0.0 3.54 0.0 3.7842568623178847 1.76 1.99 1.76 -0.53 1.76 -1.12 1.76 3.47 3.048409421321224 3.6845895293777295 1.76 1.98 1.76 -0.49 1.76 -1.04 1.76 3.4 3.048409421321224 3.589108524411041 1.76 1.97 1.76 -0.44 1.76 -0.96 1.76 3.34 3.048409421321224 3.5029701683000383