Kalman Desktop

A tool to implement and understand Kalman Filters.

Kalman Desktop along with Kalman Mobile is a Server-Client pair that reads the accelerometer readings from an Android device and sends them over to a desktop application over websockets. It then moves the cursor on the screen according to the change in acceleration of the mobile device.

A DataObject is recieved which contains acceleration along x, y and z in m/s² and a timestamp in nanoseconds (time since the device has been on).

Note

Kalman mobile reads Sensor.TYPE_ACCELEROMETER and not Sensor.TYPE_ACCELEROMETER_UNCALIBRATED. Meaning it is bias compensated.

TODO

Implement Kalman filter
Host index.html with JS client for easy testing

Moving the cursor

Robot robot = new Robot();
Point2D p = robot.getMousePosition();
robot.mouseMove(p.getX() + acc_x, p.getY() + acc_y);

Websocket Compatibility

Server	Client
Netty-socketio v1.7.19	Socket.IO-client Java v1.0.1

References for Kalman filter

License

GNU General Public License

App icon stolen from kalmanfilter.net

imaginelenses/kalmanDesk