FAQ: ADIS16480 Extended Kalman Filter Tuning

Document created by NevadaMark Employee on Jun 21, 2012Last modified by NevadaMark Employee on Jan 12, 2013
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How do I tune the Kalman filter in the ADIS16480 for my application and conditions?



The ADIS16480 uses an extended Kalman filter (EKF) to combine three independent measurements of orientation angles. The process of optimizing the covariance terms and weighting factors in the EKF involves a guided process of "trial, observation, analysis and adjustment." Each application presents its own unique blend of inertial motion and environmental conditions. While there is no "single method" for optimizing this filter, AN-1157 provides some good background information and also offers an example of approaching this process in an organized manner.