On Fri, May 20, 2011 at 12:52:30AM -0700, Chris Crase wrote:
> What concerns me about about the time stamp is two fold especially with the
> particle filter.
> 
> 1.  Multiple sensors at different rates are troublesome.  Say sensor A is at
> 60 Hz +- 1 Hz and then sensor B is at 100o Hz with +- 0.05 or something.
>  This can make particles behave very badly.

How so?

>From what I understand, we can theoretically run most of our sensors at
about the same rate, with the likely exception of GPS unless we do BPF
on raw pseudoranges.

> 2.  Without a common time stamp and a way to adjust/filter the measurements
> coming in how can we calculate a dt ? for the predictive part of either
> filter.

Not sure what you mean here by "dt for the predictive part"; could you
explain?

> The big problem with particle filters is that they degenerate and we want to
> be able to give many  particles the opportunity to participate in the
> update.
> 
> Are there any tech specs about the sensors?  Online or somewhere?

Likely, to the extent we've selected the sensor hardware we plan to use.
We should also have specs for the sensors we used on the previous
rocket.  I don't know where we keep either of those, though.

- Josh Triplett

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