Intuitive Understanding of Kalman Filtering with MATLAB®
By: Armando Barreto,Malek Adjouadi,Francisco R. Ortega,Nonnarit O-larnnithipong
by: Armando Barreto
Publication Date 出版日期: 2020
ISBN-13: 9780367191337
Print Length 页数: 248
Language 语言: English
Print Length 页数: PDF
Size: 10 Mb
Book Description
By finelybook
The emergence of affordable micro sensors,such as MEMS Inertial Measurement Systems,are applied in embedded systems and Internet-of-Things devices. This has brought techniques such as Kalman Filtering,which are capable of combining information from multiple sensors or sources,to the interest of students and hobbyists. This book will explore the necessary background concepts,helping a much wider audience of readers develop an understanding and intuition that will enable them to follow the explanation for the Kalman Filtering algorithm.
Key Features:
Provides intuitive understanding of Kalman Filtering approach
Succinct overview of concepts to enhance accessibility and appeal to a wide audience
Interactive learning techniques with code examples
Malek Adjouadi,PhD,is Ware Professor with the Department of Electrical and Computer Engineering at Florida International University,Miami. He received his PhD from the Electrical Engineering Department at the University of Florida,Gainesville. He is the Founding Director of the Center for Advanced Technology and Education funded by the National Science Foundation. His earlier work on computer vision to help persons with blindness led to his testimony to the U.S. Senate on the committee of Veterans Affairs on the subject of technology to help persons with disabilities. His research interests are in imaging,signal processing and machine learning,with applications in brain research and assistive technology.
Armando Barreto,PhD,is Professor of the Electrical and Computer Engineering Department at Florida International University,Miami,as well as the Director of FIU’s Digital Signal Processing Laboratory,with more than 25 years of experience teaching DSP to undergraduate and graduate students. He earned his PhD in electrical engineering from the University of Florida,Gainesville. His work has focused on applying DSP techniques to the facilitation of human-computer interactions,particularly for the benefit of individuals with disabilities. He has developed human-computer interfaces based on the processing of signals and has developed a system that adds spatialized sounds to the icons in a computer interface to facilitate access by individuals with “low vision.” With his research team,he has explored the use of Magnetic,Angular-Rate and Gravity (MARG) sensor modules and Inertial Measurement Units (IMUs) for human-computer interaction applications. He is a senior member of the Institute of Electrical and Electronics Engineers (IEEE) and the Association for Computing Machinery (ACM).
Francisco R. Ortega,PhD,is an Assistant Professor at Colorado State University and Director of the Natural User Interaction Lab (NUILAB). Dr. Ortega earned his PhD in Computer Science (CS) in the field of Human-Computer Interaction (HCI) and 3D User Interfaces (3DUI) from Florida International University (FIU). He also held a position of Post-Doc and Visiting Assistant Professor at FIU. His main research area focuses on improving user interaction in 3DUI by (a) eliciting (hand and full-body) gesture and multimodal interactions,(b) developing techniques for multimodal interaction,and (c) developing interactive multimodal recognition systems. His secondary research aims to discover how to increase interest for CS in non-CS entry-level college students via virtual and augmented reality games. His research has resulted in multiple peer-reviewed publications in venues such as ACM ISS,ACM SUI,and IEEE 3DUI,among others. He is the first-author of the CRC Press book Interaction Design for 3D User Interfaces: The World of Modern Input Devices for Research,Applications and Game Development.
Nonnarit O-larnnithipong,PhD,is an Instructor at Florida International University. Dr. O-larnnithipong earned his PhD in Electrical Engineering,majoring in Digital Signal Processing from Florida International University (FIU). He also held a position of Post-Doctoral Associate at FIU in 2019. His research has focused on (1) implementing the sensor fusion algorithm to improve orientation measurement using MEMS inertial and magnetic sensors and (2) developing a 3D hand motion tracking system using Inertial Measurement Units (IMUs) and infrared cameras. His research has resulted in multiple peer-reviewed publications in venues such as HCI-International and IEEE Sensors.
Table of Contents
Part I Background
Chapter 1 ■ System Models and Random Variables 3
Chapter 2 ■ Multiple Random Sequences
Chapter 3 ■ Conditional Probability,Bayes’ Rule and Bayesian Estimation 45
Part II Where Does Kalman Filtering Apply and What Does It Intend to Do?
Chapter 4 ■ A Simple Scenario Where Kalman
Chapter 5 ■ General Scenario Addressed by Kalman Filtering and Specific Cases 61
Chapter 6 ■ Arriving at the Kalman Filter Algorithm 75
Chapter 7 ■ Reflecting on the Meaning and Evolution of the Entities in the Kalman Filter Algorithm 87
Part III Examples in MATLAB®
Chapter 8 ■ MATLAB® Function to Implement and Exemplify the Kalman Filter 103
Chapter 9 ■ Univariate Example of Kalman Filter in MATLAB® 113
Chapter 10 ■ Multivariate Example of Kalman Filter in MATLAB® 131
Part IV Kalman Filtering Application to IMUs
Chapter 11 ■ Kalman Filtering Applied to 2-Axis Attitude Estimation from Real IMU Signals 153
Chapter 12 ■ Real-Time Kalman Filtering Application to Attitude Estimation from IMU Signals 179
APPENDIX A □LISTINGS OF THE FILES FOR REAL-TIME IMPLEMENTATION OF THE KALMAN
FILTER FOR ATTITUDE ESTIMATION WITH ROTATIONS IN 2 AXES,197
Intuitive Understanding of Kalman Filtering with MATLAB® 9780367191337.pdf[/erphpdown]
