# Difference between revisions of "CDS 110b: Sensor Fusion"

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== Course Materials == | == Course Materials == | ||

* {{cds110b-wi07 pdfs|fusion.pdf|Lecture notes on discrete time Kalman filter}} | * {{cds110b-wi07 pdfs|fusion.pdf|Lecture notes on discrete time Kalman filter}} | ||

− | * {{cds110b-wi07 pdfs|L4-2_fusion. | + | * {{cds110b-wi07 pdfs|L4-2_fusion.pdf|Handwritten notes on sensor fusion}} |

* partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/22Jan07.mp3 MP3] of Monday lecture, 22 Jan 2007 | * partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/22Jan07.mp3 MP3] of Monday lecture, 22 Jan 2007 | ||

* {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} (due 31 Jan 07) | * {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} (due 31 Jan 07) |

## Revision as of 21:16, 24 January 2007

WARNING: This page is for a previous year.See current course homepage to find most recent page available. |

CDS 110b | Schedule | Project | FAQ | Reading |

In this lecture we discuss discrete time random processes and the discrete time Kalman filter. We use the discrete time formulation to consider problems in (multi-rate) sensor fusion and sensor fusion in the presence of information/packet loss.

## Course Materials

- Lecture notes on discrete time Kalman filter
- Handwritten notes on sensor fusion
- partial MP3 of Monday lecture, 22 Jan 2007
- HW #4 (due 31 Jan 07)

## References and Further Reading

- K. J. Åström and R. M. Murray,, Preprint, 2006... Section 7.4 covers the discrete time Kalman filter.
- CDS 270-2 (Networked Control Systems) page on Kalman Filtering - provides additional notes and lecture materials (including some nice references)