Exercise  Sensorfusion and Localization (1DKalman Filter)
Table of Contents
Introduction
[TODO]
Requirements
Knowledge
To complete this exercise notebook, you should possess knowledge about the following topics:
Kalman Filter 1D
 Notes by Christian Herta [HER18]
Python Modules
import scipy.stats
import numpy as np
from matplotlib import pyplot as plt
%matplotlib inline
Exercises
Exercise  Sensorfusion
We have three sensor which measure a distance.
We get the following values from the measurements:
 Sensor 1:$ 50.1 $ cm
 Sensor 2:$ 49.3 $ cm
 Sensor 3:$ 49.7 $ cm
From the calibration of the sensors we have the following estimate of the standard deviations for the sensors (in the range 3090 cm):
 Standard deviation of sensor 1:$ 0.8 $ cm
 Standard deviation of sensor 2:$ 1.2 $ cm
 Standard deviation of sensor 3:$ 0.9 $ cm
Assume that the sensors are prefectly calibrated such we have no systematic error (bias).
Remark: If you are interesed how to estimate the error of an sensor, then read for an easy explaination https://amloceanographic.com/blog/sensoraccuracy/
Tasks:

What is the distance if we combine of all three measurements?

Also give an error estimate of the result (the true value should be in at least 0.95 of the Gaussian area), e.g. as$ 88\pm 4 $m (How is this related to the standard deviation?)
Solve the exercise
 with pen & paper
 implement it with numpy
 plot the differnet Gaussians.
Note: Take care for the significant digits you use.
sigma123 * 2
Exercise  1D Kalman Filter
A robot moves with a velocity of about$ 3 $ m/s. We assume that if the robot moves in a time$ \Delta t=2 $s we have an standard deviation of the moved distance of$ 0.8 $m.
Each 2 seconds we measure the position with an standard deviation$ \sigma $ of$ 1.2 $ m.
We get the following measurements:
$ z(t=0 SINGLE``SINGLE ) = 2 $m (inital$ \sigma=0 $) $ z(t=2 SINGLE``SINGLE ) = 3.4 $ m $ z(t=4 SINGLE``SINGLE ) $ = no measurement $ z(t=6 SINGLE``SINGLE )= 16.3 $ m
Task:
What is the predicted position before the measurement at$ t=8 $s.
In the state space we use just the position of the robot (1D). Solve the exercise
 with pen & paper
 implement it with numpy
Further literature and links for probabilistic robotics
Literature
Licenses
Notebook License (CCBYSA 4.0)
The following license applies to the complete notebook, including code cells. It does however not apply to any referenced external media (e.g., images).
Exercises  Sensorfusion and Localization (1DKalman Filter)
by Christian Herta
is licensed under a Creative Commons AttributionShareAlike 4.0 International License.
Based on a work at https://gitlab.com/deep.TEACHING.
Code License (MIT)
The following license only applies to code cells of the notebook.
Copyright 2018 Christian Herta
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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