Which situation should i use adaptive kalman filter ? What is the advantages and disadvantages Adaptive Kalman filter and Extended Kalman Filter ? If i use the adaptive kalman filter, is initial covairance terms affect the performance?
Great question! We appreciate you posting this. The ADIS16480 does its own bias estimations at start-up and the covariance terms determine how much influence each sensor has in the final angle estimates. As our first product with sensor fusion routines, we offered functions that were requested by experienced customers, along with those that we found in the most credible research papers are the time. This was somewhat exploratory, as we recognized that there was a wide diversity of approaches and that many applications require customization, even at the architectural level. Since we believed that the trade-off between the adaptive mode and the mode where you control the covariance terms required application specific study and experimentation, we decided to not offer a strong advice between either mode. I hope that helps understand where we are at. Please feel free to post most questions, as you make observations and invest in understanding how each of these options might help you. This is not presently a core part of our service, but I will always be willing to ask around to see if I can learn something useful. On top of that, some of our customers have been very generous in sharing their insights as well. Good luck!
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