/Unscented-Kalman-Filter

Using UKF (CTRV) to predict the turning angle of the moving object in 2D space.

Primary LanguageC++

Unscented-Kalman-Filters

Using UKF (CTRV) to predict the turning angle of the moving object in 2D space.

Unscented Kalman Filters

This project uses simulator that can be obtained here

The aim of this project is to understand how Unscented Kalman Filters can be used together with sensors (Radar and Lidar) and predict the object's next state in 2D space. In particular, CTRV is being used in this project.

Installation

This repository includes two files that can be used to set up and intall uWebSocketIO for either Linux or Mac systems. For windows you can use either Docker, VMware, or even Windows 10 Bash on Ubuntu to install uWebSocketIO. Please see this concept in the classroom for the required version and installation scripts.

Once the install for uWebSocketIO is complete, the main program can be built and ran by doing the following from the project top directory.

  1. mkdir build
  2. cd build
  3. cmake ..
  4. make
  5. ./UnscentedKF

How it works in short

INPUT: values provided by the simulator to the c++ program

["sensor_measurement"] => the measurment that the simulator observed (either lidar or radar)

OUTPUT: values provided by the c++ program to the simulator

["estimate_x"] <= kalman filter estimated position x ["estimate_y"] <= kalman filter estimated position y ["rmse_x"] ["rmse_y"] ["rmse_vx"] ["rmse_vy"]

Other Important Dependencies