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book-duckiesky-legacy - daffy
  • Welcome to Duckiesky

Introduction

  • Assignment 1: Introduction

Building Your Drone

  • Project 1: Building Your Drone

Safety

  • Assignment 2: Safety
    • Assignment

Linux and Networking

  • Assignment 3: Linux and Networking
    • Assignment

Middleware

  • Assignment 4: Middleware
    • Assignment

Sensors

  • Assignment 5: Your Robot’s Sensors
    • Assignment 5: Sensors Theory
    • 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

  • Assignment 6: PID Controller Theory
    • PID Controllers generalities
    • Assignment 6: PID Controller 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
  • Project 4: UKF
    • 2D UKF Design and Implementation
    • 7D UKF Design and Implementation

Localization and SLAM

  • Project 5: Localization and SLAM
  • Localization Background
    • Our Localization Implementation
    • Localization Assignment
  • SLAM Background
    • Our SLAM Implementation
    • SLAM Assignment
  • repository
  • open issue
  • suggest edit
  • .md

Project 4: UKF

Project 4: UKF#

  • 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

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