The EKF uses a range of techniques acquired from several years of experience including an original method to handle the delayed time horizon problem. A list of references I have found useful has been included. - The python script used to derive the autogenerated expressions in the EKF can be found here: https://github.com/PX4/ecl/blob/master/EKF/python/ekf_derivation/main.py - A working Matlab model of the filter capable of replaying flight data can be found here: https://github.com/PX4/ecl/tree/master/EKF/matlab/EKF_replay Paul Riseborough https://github.com/priseborough
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| Output Predictor.pdf | ||
| Process and Observation Models.pdf | ||
| Reference List.pdf | ||
| readme.txt |