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( 1 )
to represent the presence of low-frequency noise, where is the desired cutoff frequency. In matrix
form this becomes:
{
} [
] {
} [
( 2 )
To incorporate the accelerometer measurement we need to include the as one of our states,
where is the altitude of the vehicle. With as a state, appears in our state equation and needs to be
assigned a process noise, which will be integrated into the acceleration. Since integrating white noise is
effectively a random walk, which will diverge away from zero, we also need to color the process noise
just as was done for the pressure sensor such that only the high frequency noise is integrated. The
resulting state equations are:
47
{
( 3 )
where and are states added for noise coloring.
and
and
set the DC
magnitude of the noise. Noise coloring is not being used on the GPS measurement in this example. For
these state equations the associated sensor equations used in the Kalman filter are:
{
} [
]
{
] ( 4 )
where acc, p
rate
, and gps are the measurements of vertical acceleration, velocity, and position by the
accelerometer, pressure sensor, and GPS respectively. The high frequency white noise associated with
each of these sensors is defined by
, and