Extended-Kalman-Filter---STM32

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Extended-Kalman-Filter---STM32

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Universal Extended Kalman Filter (EKF) in C for 6-DOF IMU (gyroscope + accelerometer). Estimates Roll and Pitch with STM32 firmware and Python visualization.

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# STM32 IMU Extended Kalman Filter (EKF)

## Overview

This project implements a **6-DOF IMU orientation estimation** using an **Extended Kalman Filter (EKF)**. The filter fuses data from a **3-axis gyroscope** and a **3-axis accelerometer** to estimate **Roll and Pitch angles** in real-time.

The firmware is written in C and tested on STM32, but the core EKF and matrix math libraries are platform-independent and can be easily ported to any microcontroller (Arduino, ESP32, etc.). Code is commented step by step so someone who didn't implement EKF can learn.

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## How It Works

Below is the block diagram of the Extended Kalman Filter algorithm used in this project:

![EKF Block Diagram](https://raw.githubusercontent.com/DjVul/Extended-Kalman-Filter---STM32/main/KalmanFilterDiagram.png)

### System Model
The EKF tracks a **6-state vector**:
x = [roll, pitch, yaw, bias_x, bias_y, bias_z]

- **roll, pitch, yaw** – orientation angles (radians)
- **bias_x, bias_y, bias_z** – gyroscope biases (rad/s) to compensate for drift

### Filter Phases
1. **Prediction (Gyroscope)** – integrates angular velocity to predict new angles
2. **Correction (Accelerometer)** – corrects drift using gravity vector measurement

### Why Extended Kalman Filter?
- Standard Kalman filter assumes linear systems
- Accelerometer measurement model uses **sin/cos** (nonlinear)
- EKF linearizes the measurement model using a **Jacobian matrix**

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##  Results

![Full Signal](https://raw.githubusercontent.com/DjVul/Extended-Kalman-Filter---STM32/main/FilteringFullSignal.png)

**What you see:**
- **Green** = True angle (ground truth)
- **Red dashed** = Raw angle from accelerometer (noisy)
- **Blue** = EKF filtered output (smooth, accurate)

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### Simulation & Visualization (Python)
- **NumPy** – data generation
- **Matplotlib** – plotting
- **PySerial** – UART communication

Extended-Kalman-Filter---STM32

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