.. _extended-kalman-filter:
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Extended Kalman Filter Navigation Overview and Tuning
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This article describes the Extended Kalman Filter (EKF) algorithm used
by Copter and Plane to estimate vehicle position, velocity and angular
orientation based on rate gyroscopes, accelerometer, compass
(magnetometer), GPS, airspeed and barometric pressure measurements. It
includes both an overview of the algorithm and information about the
available tuning parameters.
Overview
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The availability of faster processors such as Pixhawk and the PX4 have
enabled more advanced mathematical algorithms to be implemented to
estimate the orientation, velocity and position of the flight vehicle.
An Extended Kalman Filter (EKF) algorithm has been developed that uses
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