John Brown

Wrong equation in the Kalman Filter document (AN5023) ?

Discussion created by John Brown on Sep 20, 2016
Latest reply on Aug 15, 2017 by Michael Smorto

Hi, I am trying to work out the math and possibly come up with a simpler update algorithm. My question is about the document named AN5023 v2p0.pdf which describes the EKF used for the Sensor Fusion. Equation (55), relates the a priori error in the angular speed to the apriori error in the gyrometer bias. The second equality does not seem correct, using equation (49), the w_{b,k} term in the final equation should be omitted. In any case, this may not matter much, as it only affects the covariance matrix (with a fixed scaling). But it would be good if it gets corrected.