smoot_unit wrote: > > > Hello All > > We are working on a type of robot application using an Analog Devices > ADXL330 accelerometer and a Invensense IDG300 gyroscope. The > application needs the integration of a Kalman filter. Is there > anyone out there that has ever worked in these spheres? >
Michael Stevens (a Senior Research Engineer at the Australian Centre for Field Robotics) has developed a nice library of C++ Bayesian Filtering Classes. The classes represent and implement a wide variety of numerical estimation algorithms for Bayesian/Kalman Filtering. The classes provide tested and consistent numerical methods and the class hierarchy explicitly represents the variety of filtering algorithms and model types. http://bayesclasses.sourceforge.net/Bayes++.html Klaas Gadeyne, a Ph.D. student in the Mechanical Engineering Robotics Research Group at K.U.Leuven, has developed a C++ Bayesian Filtering Library that includes software for Sequential Monte Carlo methods, Kalman filters, particle filters, etc. http://www.orocos.org/bfl A general purpose Kalman filter class for optimal estimation of a dynamical system. Updated 5 Sept 1997 with portability enhancements. Updated 27 Jan 2002 to simplify the model API. ftp://ftp.taygeta.com/pub/c++/kalman.1.3.tar.gz I hope this helps, Roberto
