https://teddyrookbook.com/robotics/sensing-and-estimation/Recent content in Sensing and Estimation on Teddy Rook Bookhttps://teddyrookbook.com/img/share.jpghttps://teddyrookbook.com/img/share.jpgHugoenhttps://teddyrookbook.com/robotics/sensing-and-estimation/encoders/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/sensing-and-estimation/encoders/Counts divided by counts per turn give turns; turns times the circumference give distance. Sensing and Estimation · Robotics Ladderhttps://teddyrookbook.com/robotics/sensing-and-estimation/ultrasonic-ranging/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/sensing-and-estimation/ultrasonic-ranging/Sound goes out and back, so distance = speed of sound times time, divided by 2. Sensing and Estimation · Robotics Ladderhttps://teddyrookbook.com/robotics/sensing-and-estimation/imu/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/sensing-and-estimation/imu/At rest, an accelerometer's tilt is atan(ax / az); a gyro gives turn rate, which adds up to angle and drifts. Sensing and Estimation · Robotics Ladderhttps://teddyrookbook.com/robotics/sensing-and-estimation/noise-averaging/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/sensing-and-estimation/noise-averaging/Averaging N independent readings shrinks the noise by the square root of N. Sensing and Estimation · Robotics Ladderhttps://teddyrookbook.com/robotics/sensing-and-estimation/complementary-filter/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/sensing-and-estimation/complementary-filter/Trust the gyro over short times and the accelerometer over long times: θ = α(θ + ω Δt) + (1 − α) θ_acc. Sensing and Estimation · Robotics Ladderhttps://teddyrookbook.com/robotics/sensing-and-estimation/kalman-1d/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/sensing-and-estimation/kalman-1d/Gain K = P / (P + R); new estimate = old + K (measurement − old); new P = (1 − K) P. Sensing and Estimation · Robotics Ladder