Kalman Angle Filter

File:TArduinoKalmanAngleFilter.png

Summary

Kalman filter for angle measurements, combining raw angle input and angular rate to reduce noise and improve orientation estimation.

Description

The Kalman Angle Filter estimates the true angle by fusing raw angle measurements with angular velocity data. It uses configurable process and measurement noise parameters to balance responsiveness and stability. This makes it ideal for IMU-based orientation tracking, motion sensing, and sensor fusion applications.

Diagram:

Properties

• Enabled – Enables or disables the filter.
• Change Rate Process Noise (Q Rate) – Process noise for the angular rate (default 0.0003).
• Value Process Noise (Q Value) – Process noise for the angle value (default 0.01).
• Value Observed Noise (R Value) – Measurement noise for the observed angle (default 0.01).
• Units – Output units:
  • auDegree – Degrees.
  • auRadians – Radians.
  • auNormalized – Normalized (0.0 – 1.0).

Pins

Input Pins

• In (analog) – Raw angle input.
• Rate of Change (analog) – Angular velocity input.

Output Pins

• Out (analog) – Filtered angle output.

Categories

• File:TArduinoAnalogCategory.png Category Analog – Analog signal processing components.
• File:TArduinoFilterCategory.png Category Filter – Signal filtering and smoothing components.
• File:TArduinoAngleCategory.png Category Angle – Angle and rotation-related components.