Kalman Filtering Tutorial
Kalman Filtering Tutorial
Kalman Filtering Tutorial
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FALLING BODY EXAMPLE<br />
Consider an object falling under a constant gravitational field. Let y(t) denote<br />
the height of the object, then<br />
..<br />
y( t) = −g<br />
. .<br />
⇒ y( t) = y( t ) − g( t − t )<br />
0 0<br />
.<br />
g<br />
⇒ y( t) = y( t0 ) + y( t0 )( t − t0<br />
) − ( t − t0<br />
)<br />
2<br />
As a discrete time system with time increment of t-t0=1<br />
13<br />
2
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