hello all,
I just get into a project about BLDC motor state and parameter estimation using Kalman Filter. And I have already finished the calculation of KF, now the problem is to estimate or tune the KF measurement error covariance R.
I read some materials and also my boss told me it is possible to estimation R in a practical way, and I assume, I should take some sample measurements and estimation of the motor states or parameters to determine the variace of the measurement noise, that is something like: varERROR=f(x-\hat x).
But I really dont know how to achieve this 'practical estimation of R' in PRACTIC.
Anyone knows how to deal with that??
I appreciate any help:-)
Emily