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Scott Lobdell
Scott Lobdell update README
Latest commit 6b0a5b9 Mar 6, 2017
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.gitignore base commit Jan 23, 2017 update README Mar 6, 2017
kalmanFilter.go use better data Mar 6, 2017
pos_final.json use better data Mar 6, 2017
taco_bell_data.tar.gz recompress file to properly formatted JSON Jan 25, 2017

This is as straightforward of an example as possible of sensor fusion between a GPS and an accelerometer using a kalman filter.

To use:

go run kalmanFilter.go

For corresponding video, visit: YouTube Video

The above file is some sample data using a GPS and an accelerometer. Previous work extracted out gravity, and resultant quaternion from gyroscope and magnetomer was used to create readings for absolute acceleration in North, East, and Up. How to ascertain those values is outside the scope of this project, but if you'd like help with that feel free to contact me.

The code itself is an API to fuse accelerometer and GPS data together in an extremely common scenario for using a kalman filter. The taco_bell_data.json is the input file, and an output file is produced that includes the estimated velocity and position at each sample without the aid of GPS.

There are additional helper functions in the file to translate GPS data to meters.