Introduction to The Kalman Filter through Experimental Physics

  • L. A. Rodríguez-De-Torner
  • G. Sánchez-Colina


This paper aims at introducing the Kalman’s filter to science and engineering undergraduate students by means of a simple experiment. It consists in the free fall of an umbrella equipped with a mobile phone from a height of a few-meters. Using the data provided by the accelerometer embedded in the phone, it is shown that the use of the Kalman filter allows determining the terminal velocity without the need of performing multiple repetitions of the experiment. Three methods for finding the covariance matrix of the control vector are tested, and their results are compared.

Jul 15, 2023
How to Cite
RODRÍGUEZ-DE-TORNER, L. A.; SÁNCHEZ-COLINA, G.. Introduction to The Kalman Filter through Experimental Physics. Revista Cubana de Física, [S.l.], v. 40, n. 1, p. 34-38, july 2023. ISSN 2224-7939. Available at: <>. Date accessed: 22 june 2024.
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