alpha beta filter kalman
#include <stdio.h>
#include <stdlib.h>
int main()
{
float dt = 0.5;
float xk_1 = 0, vk_1 = 0, a = 0.85, b = 0.005;
float xk, vk, rk;
float xm;
while (1)
{
// edit by abdou
xm = rand() % 100; // input signal
xk = xk_1 + (vk_1 * dt);
vk = vk_1;
rk = xm - xk;
xk += a * rk;
vk += (b * rk) / dt;
xk_1 = xk;
vk_1 = vk;
printf("%f \t %f\n", xm, xk_1);
sleep(1);
}
}