Kalman Code Generator
February 17th, 2009
The KCG is a subset of procedures, written in Maple, that allows to automate the process of writing the equations of an extended Kalman filter. Used in conjuntion with the C++ Extended Kalman Filter Library written by Vincent Zalzal, the KCG automates the translation in C++ code of huge multi-dimensional problems, operaztion sometime impossible by hand.
The package requires a good knowledge of control theory (state space systems) and Kalman filter. I wrote it in order to produce a massive 27 states Kalman Filter for identifying the dynamic parameters of the SAUVIM AUV.
The code is distributed AS IS and requres also a good knowledge of the Maple environment.