📚 Recommended Learning Path
- Web Explainer - Start here for visual understanding (10 min)
- Pendulum - Your first code example (20 min)
- GPS+IMU - Real-world sensor fusion (30 min)
- Stability Test - Advanced validation (45 min)
Total learning time: ~2 hours to master all examples
Interactive Web Explainer
Browser-based interactive visualization of UKF concepts. No compilation needed! Drag and interact with sigma points, watch uncertainty transform through nonlinear functions.
- Drag to change state, see sigma points update in real-time
- Multiple nonlinear functions (sin, x², exp, tanh)
- Animated predict-measure-update cycle
- Mathematical foundations explained visually
1. Pendulum Tracking
Track a nonlinear pendulum with noisy angle measurements. Perfect introduction to UKF concepts with clear sin(θ) nonlinearity and beautiful phase-space visualization.
- 2D state: angle and angular velocity
- RK4 integration for accurate physics
- Heavily documented C source code (650+ lines)
- SVG visualization with dark mode
2. GPS + IMU Sensor Fusion
Fuse intermittent GPS (1 Hz) with continuous IMU (100 Hz) in 1D motion. Real-world autonomous navigation patterns with measurement dropout handling.
- 3D state: position, velocity, acceleration
- Multi-rate sensor fusion
- GPS dropout simulation (10-15 second gaps)
- Three visualizations: position, uncertainty, availability
3. Long-Duration Stability Test
Stress-test SR-UKF's numerical robustness over thousands of iterations. Four challenging scenarios with comprehensive health metrics and performance validation.
- 4D state: 2D position + velocity
- NEES consistency testing
- Covariance conditioning monitoring
- Performance: 1M+ steps/second
