https://github.com/nravic/kalmanrs

A (yet to be) comprehensive Kalman Filter library in Rust
https://github.com/nravic/kalmanrs

kalman-filter nalgebra robotics rust

Last synced: 26 days ago
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A (yet to be) comprehensive Kalman Filter library in Rust

• Host: GitHub
• URL: https://github.com/nravic/kalmanrs
• Owner: nravic
• Created: 2019-12-19T21:54:47.000Z (about 5 years ago)
• Default Branch: master
• Last Pushed: 2022-08-30T01:39:14.000Z (over 2 years ago)
• Last Synced: 2024-12-29T04:29:18.194Z (about 1 month ago)
• Topics: kalman-filter, nalgebra, robotics, rust
• Language: Rust
• Size: 9.77 KB
• Stars: 4
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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• awesome-rust-list - nravic/kalmanrs
• awesome-rust-list - nravic/kalmanrs

README

        
# Kalmanrs - Kalman Filters in Rust 

This library directly implements the algorithm found [here](http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf). kalmanrs is built using nalgebra, and is designed to be as dimensionally generic as possible to make it easy to implement in whatever control structure or system you're working with. 

## Setup and Usage

Add `kalmanrs` to your Cargo.toml under dependencies.

The design of `kalmanrs` necessitates creating a wrapper for the two structs that comprise a Kalman Filter in `kalmanrs`, `LinearKalman` and `KalmanState`. What allows for dimensional genericity is the macro `kalmanrs` supplies, `lkf_builder`; which implements the predict and update methods for your Kalman Filter. 

A self-explanatory example is detailed in `examples/lkf.rs`. An important note to make is that because rust currently does not support parametrization over integer values, dimensions are simulated using types; which are defined in the root module of nalgebra. If you wanted to use a 2x3 dimensional matrix for example, you would have to `use na::{U2, U3}`. 

## Todo

- Add the Extended Kalman Filter (EKF).

- Add the Unscented Kalman Filter (UKF). 

- Better testing/test coverage