ABSTRACT
18.1 Introduction
Kalman filtering is an advanced approach for controlling complex and dynamic systems. One Kalman filtering applications is fusing inertial and magnetic sensors data to produce reliable measurements. Many people believe this is a very complicated approach and give up learning and using this filter. In this chapter the background theory of Kalman filtering is described in a simple way, avoiding deep and complicated mathematical explanation. Once you understand how it works, you can implement it for your system. Notice that even if you cannot conceive how it works, you can implement it for your system by following the filter's steps.
