CDS 110b: Sensor Fusion

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Course Home

L7-2: Sensitivity

L8-1: Robust Stability

L9-1: Robust Perf

Schedule

In this lecture we show how the Kalman filter can be used for sensor fusion and explore some variations on the basic Kalman filter, including the extended Kalman filter.

Lecture Outline

1. Sensor fusion using Kalman filters
2. The extended Kalman filter
   • Ducted fan example: Template:Cds110b-pdf, Template:Cds110b-pdf
3. Parameter estimation using EKF

Lecture Materials

• Lecture presentation (MP3)
• Lecture Notes on Kalman Filters
• Reading: Friedland, Chapter 11