How do I determine the state transition matrix in kalman filter

Simbody is useful for internal coordinate and coarse grained molecule modeling, large scale mechanical models like skeletons, and anything else that can be modeled as bodies interconnected by joints, acted upon by forces, and restricted by constraints.
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Jiang Ping
Posts: 132
Joined: Sun Aug 26, 2012 4:09 am

How do I determine the state transition matrix in kalman filter

Post by Jiang Ping » Fri Apr 12, 2019 3:58 am

Hi all,

I want to create a controller with state estimation by a Kalman filter.
To implement it, I need to calculate the transition matrix and its transpose to calculate
the estimated state.
Does Simbody have the API to access it directly?

Thank you in advance,
Jiang
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Michael Sherman
Posts: 812
Joined: Fri Apr 01, 2005 6:05 pm

Re: How do I determine the state transition matrix in kalman filter

Post by Michael Sherman » Fri Apr 12, 2019 7:53 am

Hi, Jiang. I'm not sure exactly what you're looking for, but all the quantities that Simbody computes (for example, mass matrix, system Jacobian) are available through the SimbodyMatterSubsystem class. Here is the documentation for that class. If you look through that you should be able to find what you need.

Regards,
Sherm
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