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px4_autopilot/EKF/documentation
Paul Riseborough 32b795ee10
EKF: Add readme file to EKF documentation directory 		7 years ago
..
Output Predictor.pdf EKF: Add preliminary documentation for filter mathematics 7 years ago
Process and Observation Models.pdf EKF: Add preliminary documentation for filter mathematics 7 years ago
Reference List.pdf EKF: Add preliminary documentation for filter mathematics 7 years ago
readme.txt EKF: Add readme file to EKF documentation directory 7 years ago

readme.txt 

The Matlab script used to derive the autocoded expressions in the EKF can be found here: https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m

A working Matlab model of the filter capable of replaying flight data can be found here: https://github.com/PX4/ecl/tree/master/matlab/EKF_replay

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.

Paul Riseborough
https://github.com/priseborough