This project is based on code from the ekf_ukf repository by ANYbotics. Many thanks to the authors, Simo Särkkä, Jouni Hartikainen, and Arno Solin, for their contributions.
There are a number of demonstration programs for the provided filters and smoothers. The code and a short introduction to them are given below. All of the demonstration programs are discussed in the documentation.
Demonstration programs for linear state-space models:
- 2D CWPA-model,
kf_cpwa_demo
Demonstration programs for non-linear state-space models:
- Tracking a random sine signal,
ekf_sine_demo
- UNGM-model,
ungm_demo - Bearings only tracking,
bot_demo - Reentry vehicle tracking,
reentry_demo
Demonstration programs for multiple model systems:
- Tracking a target with simple manouvers,
imm_demo - Coordinated turn model,
ct_demo - Bearings only tracking of a manouvering target,
botm_demo