Filter Kalman
- TheRoslyak
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Now I have input and output is same. (With default parametres)
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github.com/LinuxCNC/linuxcnc/blob/master...s/filter_kalman.comp
What you describe is the behaviour with passthrough = true, but it should default to false.
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- TheRoslyak
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I meant how to correctly configure "filter-kalman.N.Rk" and "filter-kalman.N.Qk"
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The kalman filter component is based on this code:
github.com/LinuxCNC/linuxcnc/blob/master...s/filter_kalman.comp
Regarding the estimation of Qk and Rk you are pointed to this:
en.wikipedia.org/wiki/Kalman_filter#Esti...ovariances_Qk_and_Rk
One practical approach to do this is the autocovariance least-squares (ALS) technique that uses the time-lagged autocovariances of routine operating data to estimate the covariances. The GNU Octave and Matlab code used to calculate the noise covariance matrices using the ALS technique is available online under the GNU General Public License .
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Using a Mesa 7i73 and 0-20k pots, I was getting enough input voltage flicker that it was affecting the commanded speed by +/- 0.2 ipm during what was intended as a continuous jog.
Experimentally, the following settings stabilized the output to halui.jog-speed enough so there is zero 'flicker' anywhere in the pot's range:
kalman-filter.N.Rk = 0.000001 (1e-6)
kalman-filter.N.Qk = 0.000001 (1e-6)
I'm sure someone who understand any of the filter math would be able to set this more appropriately, but the above values might be a useful starting point for anyone trying to tame fluttering inputs.
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