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  • Welcome to Duckiesky

Introduction

  • Assignment

Building Your Drone

  • Assignment

Safety

  • Safety
    • Assignment

Middleware

  • Middleware
    • Assignment

Linux and Networking

  • Linux and Networking
    • Assignment

Sensors

  • Your Robot’s Sensors
    • Assignment: Sensors Theory Overview
    • Part 1: Estimating Height with the Time of Flight Sensor
    • Part 2: Affine Transformations
    • Part 3: Gimbal Lock
    • Part 4: Estimating Velocity by Summing Optical Flow Vectors
  • Project 2: Sensor Interfacing
    • Using your Time-of-flight Sensor
    • Interfacing with the IMU
    • Velocity Estimation via Optical Flow
    • Position Estimation via OpenCV’s estimateRigidTransform
    • Project Checkoff

PID controller

  • PID Controllers
    • PID Controllers generalities
    • Assignment: PID Theory
  • Project 3: Implementing an Altitude PID Controller
    • Part 1: Altitude PID in Simulation
    • Part 2: Tuning
    • Project Checkoff
    • Appendix A: Altitude Tuning

UKF

  • Unscented Kalman Filter
    • Background
    • The Unscented Kalman Filter: Nonlinear State Estimation
    • Steps to Design and Implement a Kalman Filter on a Robot
  • UKF Project
    • 2D UKF Design and Implementation
    • 7D UKF Design and Implementation

Localization and SLAM

  • Localization and SLAM
  • Localization Background
    • Our Localization Implementation
    • Localization Assignment
  • SLAM Background
    • Our SLAM Implementation
    • SLAM Assignment
  • repository
  • open issue
  • suggest edit
  • .md

UKF Project

UKF Project#

  • 2D UKF Design and Implementation
  • 7D UKF Design and Implementation

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Steps to Design and Implement a Kalman Filter on a Robot

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2D UKF Design and Implementation

By The Duckietown Team
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