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Smokin Kalmans!

 
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GTBecker



Joined: 18 Jan 2006
Posts: 457
Location: Cape Coral
Posted: 22 September 2009, 16:04 PM    Post subject: Smokin Kalmans! Reply with quote
Gotta brag.

I've got a three-axis IMU (pitch and roll each use two accelerometers in a vertical V configuration plus rate gyro, yaw is rate gyro with external compass input) running on a ZX-24n at 597.3Hz (0.6% processor unused). Just pitch and roll runs at 846.3Hz.

Fast, working Kalmans entirely in 32-bit floats. Super!

Edit: Two axes (with accelerometers in Vs) and 10Hz accelerometer corrections predicts at 962.9Hz. With horizontal accelerometers it, oddly, runs a little slower, 955.8Hz.
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pjc30943



Joined: 02 Dec 2005
Posts: 220
Posted: 22 September 2009, 18:33 PM    Post subject: Reply with quote
Very nice. What's your app?
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GTBecker



Joined: 18 Jan 2006
Posts: 457
Location: Cape Coral
Posted: 22 September 2009, 18:45 PM    Post subject: Reply with quote
Marine object tracking. Moving platform, fixed and moving targets.
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