Welcome to the estimation project. In this project, I have developed the estimation portion of the controller used in the CPP simulator. By the end of the project, the simulated quad is flying with the estimator and the custom controller (from the previous project)!
1. Determine the standard deviation of the measurement noise of both GPS X data and Accelerometer X data.
I took the values from config/log/Graph1.txt (GPS X data) and config/log/Graph2.txt (Accelerometer X data) and copied them to excel notebook and found standard deviation from that. Hence I chanced the values to
MeasuredStdDev_GPSPosXY = 0.7161
MeasuredStdDev_AccelXY = 0.5092
Implemented UpdateFromIMU using FromEuler123_RPY and IntegrateBodyRate.
I used the below formula to complete the implementation of GetRbgPrime, PredictState and Predict function.
I used the below formula to complete the implementation of UpdateFromMag function.
I used the below formula to complete the implementation of UpdateFromGPS function.