Extended Kalman Filter (EKF) implementation and practical considerations. Real-world, real-time implementation and demo on an STM32 microcontroller in C using accelerometer and gyroscope measurements.
Part 4 (final) of sensor fusion video series.

[SUPPORT]
Free trial of Altium Designer: https://www.altium.com/yt/philslab

PCBA from $0 (Free Setup, Free Stencil): https://jlcpcb.com/RHS

Patreon:   / phils94  

[LINKS]
Git: https://github.com/pms67

Sensor Fusion Part 3:    • Extended Kalman Filter - Sensor Fusio...  
Sensor Fusion Part 2:    • Complementary Filter - Sensor Fusion ...  
Sensor Fusion Part 1:    • Accelerometers and Gyroscopes - Senso...  

IIR Filters:    • IIR Filters - Theory and Implementati...  

Tag-Connect SWD Probe: https://www.tag-connect.com/product/t...

Small Unmanned Aircraft (Book): https://uavbook.byu.edu/doku.php

Euler Angles: http://control.asu.edu/Classes/MMAE44... (from slide 17)

[TIMESTAMPS]
00:00 Introduction

00:21 Altium Designer Free Trial
00:44 JLCPCB and Design Files

01:06 Pre-Requisites
01:53 'Low-Level' Firmware Overview

07:00 Axis Re-Mapping
08:17 Calibration
09:42 Filtering Raw Measurements

12:12 EKF Algorithm Overview
14:11 EKF Initialisation
17:12 EKF Predict Step

19:26 Matlab/Octave Symbolic Toolbox

21:11 EKF Update Step
22:16 Setting EKF Parameters

23:26 Debug Set-up and Tag-Connect SWD Probe

24:05 Live Demonstration

26:29 Practical Considerations

ID: QIBvbJtYjWuHiTG0uCoK