Fundamentals of Kalman Filtering:: A Practical Approach (Progress in Astronautics and Aeronautics)
This is a practical guide to building Kalman filters that shows how the filtering equations can be applied to real-life problems. Numerous examples are presented in detail, showing the many ways in which Kalman filters can be designed. Computer code written in FORTRAN, MATLAB[registered], and True BASIC accompanies all of the examples so that the interested reader can verify concepts and explore issues beyond the scope of the text. In certain instances, the authors intentionally introduce mistakes to the initial filter designs to show the reader what happens when the filter is not working properly. The text carefully sets up a problem before the Kalman filter is actually formulated, to give the reader an intuitive feel for the problem being addressed. Because real problems are seldom presented as differential equations, and usually do not have unique solutions, the authors illustrate several different filtering approaches. Readers will gain experience in software and performance tradeoffs for determining the best filtering approach. The material that has been added to this edition is in response to questions and feedback from readers. The third edition has three new chapters on unusual topics related to Kalman filtering and other filtering techniques based on the method of least squares. Chapter 17 presents a type of filter known as the fixed or finite memory filter, which only remembers a finite number of measurements from the past. Chapter 18 shows how the chain rule from calculus can be used for filter initialization or to avoid filtering altogether. A realistic three-dimensional GPS example is used to illustrate the chain-rule method for filter initialization. Finally, Chapter 19 shows how a bank of linear sine-wave Kalman filters, each one tuned to a different sine-wave frequency, can be used to estimate the actual frequency of noisy sinusoidal measurements and obtain estimates of the states of the sine wave when the measurement noise is low.
Related posts
read moreCelestial Navigation in the GPS Age
Covers all modern methods of celestial navigation including H.O. 229 and 249, direct calculations using calculators and 72 different exercises in five categories of interest.
Related posts
read moreGlass Cockpit Flying
This book is for everyone who flies, wants to fly, or instructs in general aviation glass cockpit airplanes. Its purpose is to explore what makes glass cockpit airplanes different, and to give general aviation pilots the tools and knowledge they need to fly these airplanes safely and efficiently.
General aviation today is experiencing the most rapid pace of innovation since the late 1940s. Advances in composite structures and engine technology, new aviation fuels, and the availability of whole airplane parachute systems on production airplanes are part of this trend.
Related posts
read moreCelestial Navigation for Yachtsmen
There is deep mystery and profound satisfaction in finding your position on earth by reference to the sun, moon, and stars–not to mention profound relief when the GPS receiver stops working in mid-passage. That is why knowledge of celestial navigation is still a rite of initiation, and its practice still a favorite pastime among serious cruisers. That this edition of Celestial Navigation for Yachtsmen should appear 44 years after the first British edition and 27 years after its first publicati
Related posts
read moreThe Natural Navigator: A Watchful Explorer’s Guide to a Nearly Forgotten Skill
Before GPS, before the compass, and even before cartography, humankind was navigating. A windswept tree, the depth of a puddle, or a trill of birdsong could point the way home—and, for the alert traveler, they still can. Whether you go exploring in the mountains or on a lunch break, natural navigation will keep you on course and open your eyes to the small wonders of the natural world. Almost anything in our environment can help us find our way—if we know what to look for. Adventurer and nav
Related posts
read moreThe Sextant Handbook
Loran and GPS notwithstanding, there will always be a place for the sextant aboard any blue-water boat, if for no other reason than the thrill and mystery of finding one’s position on earth by gazing at the heavens. Here is the indispensable reference that should accompany the instrument aboard. Cmdr. Bruce Bauer, a professional navigator and master mariner with the U.S. Merchant Marine, has distilled years of hands-on experience into an eminently readable guide to buying, adjusting, using, and
Related posts
read more