I’ve been busy with other work and the weather has left a lot to be desired, but I’ve gotten my Sparkfun AVC entry to do an autonomous heading run up the street.
I took some open-loop data driving around the Sparkfun building a few weeks ago and I’m going to run that through the Kalman filter offline to see how good the position estimator really is. I already know that the GPS speed and heading data aren’t very good at the speeds I ran my data collections at, so I’m not going to fuse that with the EKF. At least not at first.
I’ll tune the covariance matrices on my laptop and then drop those numbers into the car and give it a go soon.