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Unformatted text preview: efore, we set up a digital camera in front of the pendulum to find rotation angles.
A computer vision system captures an image of the pendulum, detects the rod line, and outputs
the angle ! every Δt = 0.05 second. With this angle measurement, we would like to formulate
the measurement function y n = Cx n + v, wherev is the measurement noise (i.i.d. zeromean
Gaussian). What is C in this setting?
e) Write down general update equations for the Kalman gain K, updated state X, and updated
covariance P. Br...
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 Spring '08
 Schaal

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