This repository contains the code and report for a final project in the course EL2320 Applied Estimation at KTH Royal Institute of Technology. The project focuses on the state estimation of a Pipe Inspection Gauge (PIG) as it travels through a pipeline, utilising two widely used nonlinear filtering techniques: the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF). We implement both filters, compare their performance and analyse their strengths and limitations in estimating the PIG’s position and velocity in various scenarios.
The project includes:
- Matlab implementation of EKF and UKF
- Performance analysis and error evaluation
- Final report
Figure 1: Pipe Inspection Gauge.