Transcript Chris report

Current Works
• Contacted Professor Kraft about filter data
– Recommended changing the ideal integrator to be
closer to Z/(Z+0.9)
• It reduced the stationary error significantly but reduced
velocity response to acceleration (magnitude of velocity not
as large as should be)
• Tried making the integrator as close to 1 as possible but
when greater than 0.999, offset error is a problem
– Emailed him back and will meet with him later today
or tomorrow
• Looked over Kalman Filter information
Whats next?
• Need to resolve error when determining
velocity/position
• Accurately determine orientation