microsoft
New Feature: Extended Kalman Filter State Estimator for SimpleFlight
Fixes: #
About
In the following branch, I have implemented an Extended Kalman Filter (EKF) based state estimator. It was motivated by a feature request comming from AirSim to have an EKF based state estimator in the SimpleFlight firmware. The contribution in this pull request uses the following sensor measurements: IMU, GPS, Barometer, and Magnetometer to estimate the following states: local (NED) x-y-z positions, x-y-z velocities, attitudes, and IMU and barometer sensor biases.
How Has This Been Tested?
- Verified that in absence of sensor noises and following the same integration scheme as used in FastPhysicsEngine, the ground truth states can be replicated by the EKF estimated states.
- Ran multiple flight maneuvers and plotted the estimated states against the true states with sufficient accuracy.
Screenshots (if appropriate):
Please follow this issue for more details. The updates can be found in the issue. There is also a demo to try things out and see results in plots :). Please contact me for questions, assistance, or feature requests either in the issue or here. Thank you.
