author | Jamey Sharp <jamey@minilop.net> | 2009-08-30 19:23:13 (GMT) |
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committer | Jamey Sharp <jamey@minilop.net> | 2009-08-30 19:23:13 (GMT) |

commit | 1683551c91fabef1511ceb10c38668b1828a4dc6 (patch) (side-by-side diff) | |

tree | 44299957c61c60f37801c17aac08d4c86073ccdf | |

parent | 31b0c685f3c59a74d4d22e77236f53de5075944d (diff) | |

download | wiki-1683551c91fabef1511ceb10c38668b1828a4dc6.zip wiki-1683551c91fabef1511ceb10c38668b1828a4dc6.tar.gz |

Reorganize the uncertainty team section of the site.

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-rw-r--r-- | uncertainty/books.mdwn (renamed from BookList.mdwn) | 0 | ||||

-rw-r--r-- | uncertainty/books/GPS-INS-errata.txt (renamed from BookList/GPS-INS-errata.txt) | 0 | ||||

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-rw-r--r-- | uncertainty/links.mdwn (renamed from WebSites.mdwn) | 4 | ||||

-rw-r--r-- | uncertainty/papers.mdwn (renamed from PaperList.mdwn) | 0 | ||||

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-rw-r--r-- | uncertainty/tutorials.mdwn (renamed from TutorialIntro.mdwn) | 0 |

13 files changed, 17 insertions, 94 deletions

diff --git a/uncertainty.mdwn b/uncertainty.mdwn index 9bee9e5..617191b 100644 --- a/uncertainty.mdwn +++ b/uncertainty.mdwn @@ -1,108 +1,24 @@ -# Welcome to the Uncertainty Team - [[[[!img TridentSpin/trident-2-dnsc8906614.jpg size="250x192" alt="Uncertainty Team Logo" link=no class="picture"]]|TridentSpin]] Mailing List: [psas-avionics](http://lists.psas.pdx.edu/mailman/listinfo/psas-avionics) -See the [[Schedule]] page for meeting details. - -- [[Our Current Status|LatestStatus]] -- [[ToDo List|UncertaintyToDo]] -- [[Questions/Answers|UncertaintyQuestions]] -- [[PSAS Rocket Model|UncertaintyRocketModel]] -- [[Roadmap|UncertaintyRoadMap]] -- [[Roll Control (New!)|RollControl]] - The uncertainty team is tasked with achieving things that are unpredictable and very challenging. Of course, things which are certain and easily understood will be handled by other [[Teams]]. We're doing research and implementation of probabilistic algorithms. In particular we are interested in all sorts of filtering: kalman unscented, kalman extended, sigma point kalman, particle and others. These are useful in estimating the position and orientation of a rocket given a diverse array of sensor inputs, all of which are incorrect in their own way. Without such estimation and eventually feeding back this information to our system, controlling a rocket's trajectory can be hugely difficult. Please join our mailing list, or better yet stop by one of our meetings, we'd love to have your help! -## Current Action Items (i.e. What we're currently working on) - -- Research: [[read books/papers|Uncertainty#Reading_List]], find other [[resources|Uncertainty#Resources]], and share what you learn. -- Prototype: Running data from last flight through [[ReBEL]] toolkit, implementing extended kalman and unscented kalman in C or C++ code - -## <a name="Meeting Minutes"></a> Meeting Minutes - -<table border=1 cellpadding=0 cellspacing=0> - <tr> - <th bgcolor="#99CCCC" colspan=2><strong> 2006 </strong></th> - </tr> - <tr> - <th bgcolor="#99CCCC"><strong> Date </strong></th> - <th bgcolor="#99CCCC"><strong> Summary </strong></th> - </tr> - <tr> - <td> 8/02/06 </td> - <td> Judy, Tim and Markus talked about ekf, ukf within {{{ReBEL}}} and what the model should look like. Discussed issues regarding gains of gyros and misalignment. Tim wants to think about what the consequences of not including the gains in the error model. The gains typically drift slowly whereas bias' change quickly. Talked with Bart, he mentioned that he would like to do plain old kalman filtering first and then just move on to using one of the Bayesian Filtering Libraries, either BFL or Bayes++ to develop a true particle filter. We also had a new member join our group, Abraham. Welcome! </td> - </tr> - <tr> - <td> 7/26/06 </td> - <td> Judy &amp; Tim discussed the next moves. Probably getting {{{ReBEL}}} work on simulated data. Also work on bias estimation using GPS data for INS integration. </td> - </tr> - <tr> - <td> 6/21/06 </td> - <td> Updated this wiki, and books/papers sections </td> - </tr> - <tr> - <td> 6/14/06 </td> - <td> Talked with Tim, Jamey about using Octave, will install it and try to load {{{ReBEL}}} within it </td> - </tr> - <tr> - <td> - </td> - <td> Markus commented that {{{ReBEL}}} would most probably need to get ported to Octave and to understand using it within Matlab first </td> - </tr> - <tr> - <td> - </td> - <td> Judy brought more books on Kalman filtering and is updating the Papers and Books sections of this website as well as coming up to speed </td> - </tr> -</table> - -### Reading Lists - -- [[Tutorials and Introductory Material|TutorialIntro]] -- [[Papers|PaperList]] -- [[Books|BookList]] -- [[Web Sites|WebSites]] - -### Glossary +# Current projects -- Observable: tied to an observable quantity, such that we can correlate it with a sensor. Unobservable quantities affect calculations but don't directly correlate to a sensor. +- Testing and improving our Bayesian Particle Filtering (BPF) implementation in our [simulated rocket](http://git.psas.pdx.edu/?p=event-driven-fc.git) environment. -### Source code libraries and implementations: - -- [Bayesian Filtering Library](http://people.mech.kuleuven.ac.be/~kgadeyne/bfl.html) -- [Bayes++ Bayesian Filter Classes](http://www.acfr.usyd.edu.au/technology/bayesianfilter/Bayes++.htm) -- [ReBEL: Recursive Bayesian Filtering, Matlab toolkit](http://choosh.csee.ogi.edu/rebel/), written by Rudolph van der Merwe and Eric A. Wan. -- [Kalman filter toolbox for Matlab](http://www.cs.ubc.ca/~murphyk/Software/Kalman/kalman.html), written by Kevin Murphy -- [The Kalmtool Toolbox Version 2 - for use with Matlab](http://www.iau.dtu.dk/research/control/kalmtool.html) -- [Kalman filter](http://rsb.info.nih.gov/ij/plugins/kalman.html) for image sequence processing - -### Local Resources +# Local Resources - [[Introduction to the Kalman fiter|KalmanIntro]] - [[Introduction to state space representations|StateSpace]] - [[Example:INS Aiding and Error Analysis in 1-D|Example1D]] - -### Other Useful Information - -- [Octave vs MatLab](http://www.bio.vu.nl/thb/deb/deblab/debtool/first_oct_matl.html) - -### Prior Work - -- [[PriorWork]] -- [[ActiveGuidance]] system links and notes.<br /> - -### Misc - +- [[ActiveGuidance]] system links and notes. - [[Comparison|orbital_vehicle_comparison]] of small orbital vehicles - ---- - -Attachments: +- [[Roll Control|RollControl]] -- [[uncertainty/xyq.pdf]] +[[!inline pages="* and !*/*" sort="title"]] diff --git a/BookList.mdwn b/uncertainty/books.mdwn index d22f182..d22f182 100644 --- a/BookList.mdwn +++ b/uncertainty/books.mdwn diff --git a/BookList/GPS-INS-errata.txt b/uncertainty/books/GPS-INS-errata.txt index b77aa35..b77aa35 100644 --- a/BookList/GPS-INS-errata.txt +++ b/uncertainty/books/GPS-INS-errata.txt diff --git a/uncertainty/glossary.mdwn b/uncertainty/glossary.mdwn new file mode 100644 index 0000000..3205862 --- a/dev/null +++ b/uncertainty/glossary.mdwn @@ -0,0 +1 @@ +- Observable: tied to an observable quantity, such that we can correlate it with a sensor. Unobservable quantities affect calculations but don't directly correlate to a sensor. diff --git a/PriorWork.mdwn b/uncertainty/history.mdwn index 371c749..7f7a708 100644 --- a/PriorWork.mdwn +++ b/uncertainty/history.mdwn @@ -4,10 +4,6 @@ The uncertainty team is dedicated to doing stuff that we don't understand at all Put another way, we're doing research and implementation of probabilistic algorithms. These are useful, for instance, to estimate the position and orientation of the rocket given a diverse array of sensor inputs, all of which are wrong in different ways. Without such estimation, controlling the rocket's trajectory is really, really, really hard. -## <a name="Current to do list"></a> Current to do list - -- Research: [[read books|PriorWork#Reading_List]], find other [[resources|PriorWork#Resources]], and share what you learn. - ### <a name="Research plan"></a> Research plan We want to have a process that updates estimates for the error model as we propagate the filter. diff --git a/uncertainty/implementations.mdwn b/uncertainty/implementations.mdwn new file mode 100644 index 0000000..594798e --- a/dev/null +++ b/uncertainty/implementations.mdwn @@ -0,0 +1,6 @@ +- [Bayesian Filtering Library](http://people.mech.kuleuven.ac.be/~kgadeyne/bfl.html) +- [Bayes++ Bayesian Filter Classes](http://www.acfr.usyd.edu.au/technology/bayesianfilter/Bayes++.htm) +- [ReBEL: Recursive Bayesian Filtering, Matlab toolkit](http://choosh.csee.ogi.edu/rebel/), written by Rudolph van der Merwe and Eric A. Wan. +- [Kalman filter toolbox for Matlab](http://www.cs.ubc.ca/~murphyk/Software/Kalman/kalman.html), written by Kevin Murphy +- [The Kalmtool Toolbox Version 2 - for use with Matlab](http://www.iau.dtu.dk/research/control/kalmtool.html) +- [Kalman filter](http://rsb.info.nih.gov/ij/plugins/kalman.html) for image sequence processing diff --git a/WebSites.mdwn b/uncertainty/links.mdwn index 87ecef9..07d640a 100644 --- a/WebSites.mdwn +++ b/uncertainty/links.mdwn @@ -4,3 +4,7 @@ Kalman filter extensions: - [The Unscented Kalman Filter for Nonlinear Estimation](http://cslu.cse.ogi.edu/nsel/ukf/) - [EnKF-The Ensemble Kalman Filter](http://www.nersc.no/~geir/EnKF/) + +Other Useful Information: + +- [Octave vs MatLab](http://www.bio.vu.nl/thb/deb/deblab/debtool/first_oct_matl.html) diff --git a/PaperList.mdwn b/uncertainty/papers.mdwn index 7cddc87..7cddc87 100644 --- a/PaperList.mdwn +++ b/uncertainty/papers.mdwn diff --git a/UncertaintyQuestions.mdwn b/uncertainty/questions.mdwn index b6fd29c..b6fd29c 100644 --- a/UncertaintyQuestions.mdwn +++ b/uncertainty/questions.mdwn diff --git a/UncertaintyRoadMap.mdwn b/uncertainty/roadmap.mdwn index 91cd55b..91cd55b 100644 --- a/UncertaintyRoadMap.mdwn +++ b/uncertainty/roadmap.mdwn diff --git a/UncertaintyRocketModel.mdwn b/uncertainty/rocket_model.mdwn index ff12932..ff12932 100644 --- a/UncertaintyRocketModel.mdwn +++ b/uncertainty/rocket_model.mdwn diff --git a/UncertaintyToDo.mdwn b/uncertainty/to-do.mdwn index 9c0563d..9c0563d 100644 --- a/UncertaintyToDo.mdwn +++ b/uncertainty/to-do.mdwn diff --git a/TutorialIntro.mdwn b/uncertainty/tutorials.mdwn index 25b4637..25b4637 100644 --- a/TutorialIntro.mdwn +++ b/uncertainty/tutorials.mdwn |