mehhdiii / extended-kalman-filter-algorithm

The Extended Kalman filter MATLAB Toolbox for robotics. The repository contains a sample simulation and report for building understanding of the EKF algorithm.

The Extended Kalman Filter

The repository impliments Extended Kalman filter algorithm for a non-linear system given observations from a radar. The description for the system, EKF algorithm and simulation steps can be found in the report

Working and results

The Filter tracks a non-linear object given the range and angle of the object obtained from the Radar. The results of the filter are given in the figure below:

Contribution

In order to contribute to this project, you can go through the report/report.tex and suggest changes to the respective functions by creating a pull request.