ballistic-kalman-filter

Kalman filter position tracking of ballistic object in Rust.
Small experimentation using rapier physics engine, linearkalman as well as egui for visualization.

What it does

./src/physics.rs
I used the rapier physics engine in order to simulate the ballistic trajectory of a rigidbody thrown in the air.
Then, I added gaussian errors to true positions in order to simulate real sensors.

./src/kalman.rs
I then used the crate linearkalman to integrate Kalman prediction and update steps following a linear state model in a gravity field without control.

./src/gui.rs
A real-time graphical plotting is implemented, showing the measurements points, the true trajectory as well as the filtered trajectory.

./src/main.rs
Launching the simulation physics and Kalman tracking in one thread and the GUI in another. Both communicating through an mpsc channel.

How to run

Clone the repository.

gh clone alelouis/ballistic-kf

Then run main binary using cargo, preferably in release mode.

cargo run --release