Technician13 / Kalman-Filter

Kalman filter based on C++

Kalman filter based on C++

• This project gives an example, which can be modified by users.
• Every block during option start and option end should be modified by users according to the actual situation, where contains necessary parameters and printing options.
• Need to pre install dependency Eigen:
  sudo apt-get install libeigen3-dev
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen
• The random number generation mechanism based on time stamp is used to simulate the noise of sensors, this rough approach has produced good results.
• Provide simple parameter type checking function.
• The test result is as the follow figure, the red line is the filtered result and the blue line is the origin measurement result, the number of iterations is 20:

• Reference:
  手把手教你写卡尔曼滤波器