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Kamil Ritz 562731936a Update quaternion direction in documentation pdf 2019-09-24 08:50:29 +10:00
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Output Predictor.pdf EKF: Add preliminary documentation for filter mathematics 2017-10-13 21:34:49 +11:00
Process and Observation Models.pdf Update quaternion direction in documentation pdf 2019-09-24 08:50:29 +10:00
Reference List.pdf EKF: Add preliminary documentation for filter mathematics 2017-10-13 21:34:49 +11:00
readme.txt Fix links to moved files in readme 2018-12-10 03:34:53 +01:00

readme.txt 

The EKF uses a range of techniques acquired from several years of experience including an original method to handle the delayed time horizon problem. 
A list of references I have found useful has been included.

- The Matlab script used to derive the autocoded expressions in the EKF can be found here: https://github.com/PX4/ecl/blob/master/EKF/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m

- A working Matlab model of the filter capable of replaying flight data can be found here: https://github.com/PX4/ecl/tree/master/EKF/matlab/EKF_replay

Paul Riseborough
https://github.com/priseborough