Commit c3927405 authored by Justin Cano's avatar Justin Cano
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mod slides e

parent 316952bd
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- `doc/` <u>Contains technical notes for the repo</u>
- `ekf_uwb_doc.pdf` : (to be continued) explains briefly Kalman filtering to perform robot localization aided with UWB (see [1,2]) measurements. I work on this technical note in English this will be soon released depending on my free time.
- `localisation_robots.pdf` (in French) explains all the algorithms there (done for a Crash course at Centrale Marseille).
- `dead_reckogning/` : Matlab/Simulink code showing the bad effects of kinematics integration without any external measurements.
- `dead_reckoning/` : Matlab/Simulink code showing the bad effects of kinematics integration without any external measurements.
- `ekf_twr/` : Python code to perform Extended Kalman Filtering for localization of an embedded transceiver with the more generalist model : **acceleration seen as a Brownian motion** aka constant velocity model.
- `kf_and_ekf/` : Two Matlab Scripts. One to show linear KF with range measurement in simplistic 1D case, one to show EKF with kinematic model of the UGV (2D Robot).
- The UGV model is explained in the slides `localisation_robots.pdf` : it's a simple non-holonomic constrained kinematic model.
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algorithms there (done for a Crash course at Centrale Marseille).
\end{itemize}
\item
\texttt{dead\_reckogning/} : Matlab/Simulink code showing the bad
\texttt{dead\_reckoning/} : Matlab/Simulink code showing the bad
effects of kinematics integration without any external measurements.
\item
\texttt{ekf\_twr/} : Python code to perform Extended Kalman Filtering
......@@ -110,13 +110,13 @@ Folders description :
\end{itemize}
\end{itemize}
\subsubsection{Remark}\label{header-n32}
\subsubsection{Remark}\label{header-n27}
Another repo with \texttt{C} implementation {[}1{]} (and \texttt{Matlab}
simulation) and an exhaustive documentation can be found at :
https://gitlab.com/nitraced/ranging\_ekf
\subsubsection{Bibliography}\label{header-n37}
\subsubsection{Bibliography}\label{header-n29}
{[}1{]} J. Cano, S. Chidami, et J. L. Ny, « A Kalman Filter-Based
Algorithm for Simultaneous Time Synchronization and Localization in UWB
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