What is the Kalman Filter and How can it be used for Data Fusion ?
نویسنده
چکیده
Just to explain a little about the motivation for this topic, the project I was working on was called “PROSPECT: Wide Area Prospecting Using Supervised Autonomous Robots.” Our goal was to develop a semi-autonomous mutli-robot supervision architecture. One of the major issues for rover navigation is knowing attitude and position. Our initial idea was to use a combination of IMU, GPS and odometry (encoders and visual) to solve this issue. So for my math project, I wanted to explore using the Kalman Filter for attitude tracking using IMU and odometry data.
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