ELEC-E8107 - Stochastic models, estimation and control D, Lecture, 6.9.2022-7.12.2022
This course space end date is set to 07.12.2022 Search Courses: ELEC-E8107
Lecture 5 continues, Lecture 6, October 25: Examples of EKF for localization of ATVs, Particle Filter
Completion requirements
CASE: HONDA ATV
EKF based Localization of ePolaris ATV
• ePolaris. Conventions.
• Kinematic model of ePolaris, Odometry.
• Different EKF -implemention of Sensor Fusion with Odometry
• Reference from Novatel SPAN with most accurate correction signals
CASE: HONDA ATV
• EKF
• GPS
• Odometry
Particle Filter
▪ Represent belief by random samples
▪ Estimation of non-Gaussian, nonlinear processes
▪ Monte Carlo filter, Survival of the fittest, Condensation, Bootstrap filter, Particle filter
▪ Estimation of non-Gaussian, nonlinear processes
▪ Monte Carlo filter, Survival of the fittest, Condensation, Bootstrap filter, Particle filter