simple kalman filter code needed..?

[Guest]

Hi all,

Can any one plz give me code to measure voltage using adc of PIC after applying kalman filter.

Kalman filter code is required to minimize the noise in incoming adc signal to understand kalman filter.

plz give ur response soon.

regards
dani

[Ttelmah]

The Kalman filter, is only applicable, if you have a good 'model' of what responses you expect, and the noise sources are largely Gaussian. There is no universal Kalman filter, the estimation will need to be based upon what is expected for your signal. Seriously though, I have used a couple of Kalman filters, but never even contemplated writing one to run on a PIC. Though the Kalman filter is a computationally efficient filter of it's type, it will use a large amount of space on such a processor.
I'd suggest you do a web search for Magnus Norgaard. He published a MatLab model, of a simpler filter, that for many applications was simpler to implement, and worked nearly as well.

Best Wishes

[Harry Mueller]

Kalman filters are being used in PICs by the robotics community, mainly in balancing robots such as 2 legged or 2 wheeled robots. They are used to filter data coming from accelerometers and piezo gyros.

Cheers....Harry

[Ttelmah]

Interesting. However the comment still applies that there is no 'universal' Kalman filter. You need a model of the data you expect to receive, and you look at how far the 'real' response differs from this. Hence the implementation is device specific. I ran a simplified version of the filter, on a servo application in a PIC, but it was much simplified from the original filter (it was based on the model I mentioned). I might be suspicious that the people using the filters in robotics are actually using a similar subset.

Best Wishes