How A Kalman Filter Works, In Pictures | Bzarg

I am trying to write a kalman filter and I'm stuck on the H matrix. Right now I'm trying to get position and velocity data and I'm providing position, velocity and acceleration data. How do you set up an H matrix for this, or just in general?

References -a-kalman-filter-works-in-pictures/ ~whd/publications/1076-Siegel.pdf ~whd/publications/7179.pdf -sigproc.eng.cam.ac.uk/foswiki/pub/Main/OP205/mphil.pdf _papers/integrated3/kleeman_kalman_basics.pdf -Dezert-SPIE2013Baltimore.pdf =Introduction&section=SystemModeling -space-analysis-of-control-system/ -2

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In this work , the ensemble Kalman filter(EnKF) is employed to identify the contaminant source and barrier information in a laboratory sandbox experiment. A typical single point pollution experiment was performed in the sandbox with a barrier by using sodium fluorescein as the tracer.The movement of the contaminant was recorded by a digital camera and the contaminant concentration was obtained by the analysis of the luminosity of the pictures. The capability of the EnKF is tested through the experiment data. With a vague prior speculation of the contaminant source and barrier information, EnKF is applied to simultaneously identify these parameters through assimilating the concentration observations. The updated parameters match the actually sandbox parameters quite well implying that EnKF is an effective approach to identify the source location, barrier position, contaminant concentration and releasing history.

In [63], a device for photogrammetry has been designed, equipped with a set of integrated sensors, including an accurate real-time kinematics global navigation satellite system (RTK-GNSS) used at construction sites, a prism for interfacing with a robotic total station, a high resolution camera and an inertial measurement unit (IMU). It moves between two mounting points, in a blondin ropeway configuration, at the construction site, taking pictures and recording the position and orientation data along the cable. The measurements provided by these sensors are integrated through a Kalman filter. Digital surface models (DSMs), based on the structure from motion (SfM), have been created at a construction site. 2b1af7f3a8