Basic idea: learning, understanding and application of Kalman filtering algorithm;
Represents the position of the trolley at time t-1;
represents the position of the trolley at time t
Represents the speed of the trolley at time t-1;
represents the speed of the trolley at time t
= Time difference between t and t-1
When the car moves from time t-1 to time t, the position of the car is =
+
*
When the car moves from time t-1 to time t, the speed of the car at this time is still =
According to the definition of mechanics:
- The definition of acceleration is u, which represents the acceleration of the car forward at each moment
Its basic definition is: u=( -
)/
Displacement distance s = *
+(1/2)*u*
When the trolley moves from time t-1 to time t, the position of the trolley at this time is: (end position=start position+moving position)
=
+
*
+ (1/2) * u *
Final speed: =
+u*
Based on the above explanation, the position and speed of the trolley from time t-1 to time t are respectively the formulas:
=
+
*
+ (1/2) * u *
=
+ u *
Then the matrix is extracted, F is called the state transition matrix, which is the transition from the previous state to the next state, and B is called the control matrix how the control quantity u acts on the current state;
To be continued: