State_Estimation

Comparison of Dead Reckoning, Least square, Extended Kalman and Particle filter

This program is written on python2.7 and excuted in Ubuntu16.04

Steps to run this simulation on your system

• First Install python
• Install the dependency library numpy and matplotlib
• Open the terminal/CMD and type the following commands to get started
  • Type git clone https://github.com/naveenbiitk/State_Estimation.git
  • This will create a copy of the above code on your current folder in terminal
  • Now go inside the python_1 folder in the terminal
  • run the code by python main.py

You can see the simulation environment, the input control is corrupted with manual noise and the environment is assumed to be fitted with 4 becon, which provides correction to the point-robot.

Dead reckoning

Least square

Particle filter

Extended Kalman filter

Further theory and reference can be seen in here