Extended Kalman Filter Software Implementation - Sensor Fusion #4 - Phil’s Lab #73

Extended Kalman Filter (EKF) implementation and practical considerations. Real-world, real-time implementation and demo on an STM32 microcontroller in C using accelerometer and gyroscope measurements. Part 4 (final) of sensor fusion video series. [SUPPORT] Free trial of Altium Designer: PCBA from $0 (Free Setup, Free Stencil): Patreon: [LINKS] Git: Sensor Fusion Part 3: Sensor Fusion Part 2: Sensor Fusion Part 1: IIR Filters: Tag-Connect SWD Probe: Small Unmanned Aircraft (Book): Euler Angles: (from slide 17) [TIMESTAMPS] 00:00 Introduction 00:21 Altium Designer Free Trial 00:44 JLCPCB and Design Files 01:06 Pre-Requisites 01:53 ’Low-Level’ Firmware Overview 07:00 Axis Re-Mapping 08:17 Calibration 09:42 Filtering Raw Measurements 12:12 EKF Algorithm Overview 14:11 EKF Initialisation 17:12 EKF Predict Step 19:26 Matlab/Octave Symbolic Toolbox 21:11 EKF Update Step 22:16 Setting EKF Parameters 23:26 Debug Set-up and Tag-Connect SWD Probe 24:05 Live Demonstration 26:29 Practical Considerations ID: QIBvbJtYjWuHiTG0uCoK