Michael: Sorry if the code did not work. As I earlier wore, it was written to the arduino and for that purpose it works great. I might have altered the code afterwards, but I dont think so.
If you managed to get a KF working on the phidget, cant you post the code for it ?
Another question before i start recoding it for java; did you use the matrices and some sort of function to multiply them in the program, or do you multiply the matrices manually and code the finished equations ?
Moisès: Its quite difficult to get a hold of how the KF works, but reading around on Tom Pyckes blog and trying to find the proper matrix dimensions and code it really helps with the understanding. I'm not sure how experienced you are with matrix multiplications, but if you think its hard to wrap your head around what gets multiplied with what, I really reccomend you to try and multiply the matrices in www.wolframalpha.com
. There, it is very easy to see what gets multiplied with what(if you dont want to do it manually of course), but the biggest advantage is that it can multiply algebraic matrices, so you dont have to use actual numbers(you can use Q1, q2, q3 aso. for the covariance). There are probaly multiple programs that can do this, but this is easy accessible and easy to use.
Michael(again): it would be nice to see your progress in the shape of a new video