Purpose:

The goal of this project was to learn the theory behind Linear and Extended Kalman Filters and implement it on a custom mobile robot simulation environment. In this environment, the robot has wheel encoders, GPS and landmark pinger sensors that all have their independent noise and error that falls under a gaussian distribution. For the Linear Kalman Filter (LKF), the robot measurement updates come from the GPS signals and for the Extended Kalman Filter (EKF), the robot measurement updates come from the landmark pinger.

Paper Link