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State Estimation

Modified 2018-10-28 by Stefanie Tellex

The Duckiedrone includes three approaches for low-level state estimation (velocity and integrated position). The default state estimator is the Exponential Moving Average, which simply maintains a moving average across different sensor estimates. We have also implemented several variants of an Unscented Kalman Filter, which uses a control input and a measurement input to enable the estimator to smooth sensor measurements while also updating quickly when the drone changes state.

To see options for the state estimator, run python --help. You can also read more about the Unscented Kalman Filter in the Duckiesky Learning Materials chapter on this topic.

When the UKF is working you can see a graph appear in the web interface along with the raw sensor value for the height.

Graph of the UKF reading with the raw sensor value.