/Extended-Kalman-Filter-ROS

Extended Kalman Filter for ROS.

Primary LanguageC++

*** Archieved: As this repo is and will not updated anymore, it is archieved. ***

Extended Kalman Filter ROS

A basic implementation of EKF to fuse IMU and Wheel Encoders for Self-Driving-RC-car project

How to use:

  1. Clone the project
  2. Modify demo.cpp.
  3. This package depends on Eigen library. Follow the instructions on the official website. Easiest way to setup is, extracting and copying the files to "usr/include/" folder.

Note: Demo.cpp will not work unless you clone the main self-driving-car-ROS project or change the message types.

Parameters

Modify the parameters as you need: (Parameters can be found under tracking.cpp if modifying is necessary.)

Process Covariance Matrix

  1. ekf/Qv_ax
  2. ekf/Qv_ay
  3. ekf/Qv_psi

Wheel Encoder Measurement Covariance Matrix

  1. ekf/R_WE_ax
  2. ekf/R_WE_ay
  3. ekf/R_WE_psidot

IMU Measurement Covariance Matrix

  1. ekf/R_IMU_ax
  2. ekf/R_IMU_ay
  3. ekf/R_IMU_psidot