Now that ERP1 is up and running, it needs to be able to fix its position and report this back over the wireless data link. I plan to develop a simple Kalman filter to estimate ERP’s position, but to do this, I need two things…..
(a) An Action Parameter. This will be in the form of a motion vector. Direction will come from a digital compass and Magnitude from a wheel mounted optical encoder.
(b) Data Update. This will the estimated position of ERP1 obtained from an external fixing system such as the popular Global Positioning System (GPS).