Kalman Filter Flight Demo

t0.00 s phaseboost alt0 m speed0 m/s |err|0.0 m 1σ0.0 m GPSlock

Position error vs. 3σ envelope

last 60 s · coral = |est − truth| · lavender = filter's 3σ

Thrust accel 35.0 m/s²

Burn time 14.0 s

Pitch-over start 2.0 s

Pitch-over rate 3.5 °/s

Drag coefficient 0.0040 1/m

Wind gusts 1.5 m/s²

GPS receiver on

Flip it off mid-flight: the updates stop, and the uncertainty ellipse blooms.

IMU noise 0.60 m/s²

Accel bias x 0.25 m/s²

Accel bias y -0.18 m/s²

GPS noise 18.0 m

GPS rate 4.0 Hz

Process noise q 1.20 m/s²

Assumed GPS σ R 18.0 m

Mistune these against the sensor truth and watch the filter over- or under-trust its inputs.

Truth path & rocket GPS measurements Estimate path Uncertainty ellipses

Sim speed 1.0×