Kalman Filter/IMU

Youtube Videos:
https://www.youtube.com/watch?v=18TKA-YWhX0
https://www.youtube.com/watch?v=nNWWLJZRxAU
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https://www.youtube.com/watch?v=locZabK4Als (Covariance Matrix)


PID Controllers
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http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
https://nicisdigital.wordpress.com/2011/06/27/proportional-integral-derivative-pid-controller/
www.den-uijl.nl/electronics/gyro.html
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Complementary Filter
http://ozzmaker.com/2013/04/18/success-with-a-balancing-robot-using-a-raspberry-pi/
http://scolton.blogspot.ca/2012/09/fun-with-complementary-filter-multiwii.html
http://www.pieter-jan.com/node/11

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IMU Maths
http://www.camelsoftware.com/firetail/blog/c/imu-maths/
http://www.starlino.com/imu_guide.html
http://www.instructables.com/id/Accelerometer-Gyro-Tutorial/step3/Combining-the-Accelerometer-and-Gyro/
http://www.chrobotics.com/library/attitude-estimation 
http://theboredengineers.com/2012/09/the-quadcopter-get-its-orientation-from-sensors/
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Quaternions
http://www.chrobotics.com/library/understanding-quaternions

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Magnetometer/Compasses

http://mythopoeic.org/magnetometer/
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http://greg.czerniak.info/guides/kalman1/

http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it/
http://web.mit.edu/scolton/www/filter.pdf

http://www.ocf.berkeley.edu/~tmtong/kalman.php

Accelerometer + Gyro: http://www.hobbytronics.co.uk/accelerometer-gyro


https://sites.google.com/site/myimuestimationexperience/filters/complementary-filter (Complementary, with some Kalman info too)

http://interactive-matter.eu/2009/12/filtering-sensor-data-with-a-kalman-filter/ (Actually LPF)

http://www.thousand-thoughts.com/2012/03/android-sensor-fusion-tutorial/ (Complementary Filter)



http://www.cs.unc.edu/~welch/kalman/kalmanIntro.html

http://tom.pycke.be/mav/71/kalman-filtering-of-imu-data

http://www.rcgroups.com/uav-unmanned-aerial-vehicles-238/

http://autopilot.sourceforge.net/faq.html

http://speech.bme.ogi.edu/publications/ps/merwe04a.pdf

http://kalman.sourceforge.net/

http://www.eetimes.com/design/analog-design/4017990/Introduction-to-Kalman-Filtering
http://www.eetimes.com/design/embedded/4023342/Kalman-Filtering
http://www.eetimes.com/design/embedded/4025693/Using-nonlinear-Kalman-filtering-to-estimate-signals
http://www.gioblu.com/tutorials/programmazione/98-filtro-di-kalman-con-arduino

http://arduino.cc/forum/index.php/topic,42496.0.html
http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1282384853/0
http://arduino.cc/forum/index.php/topic,8871.0.html

http://www.gamasutra.com/view/feature/1494/wheres_the_wiimote_using_kalman_.php?page=1

One Dimension Kalman Filter:
http://home.earthlink.net/~pdjoseph/id11.html

Intros to Kalman filtering
http://bilgin.esme.org/BitsBytes/KalmanFilterforDummies.aspx (Missing Q in example)
http://greg.czerniak.info/node/5

http://www.scipy.org/Cookbook/KalmanFiltering

http://robottini.altervista.org/kalman-filter-vs-complementary-filter

Mathlab Code:
http://www.innovatia.com/software/papers/kalman.m

DCM:
http://voidbot.net/razor-6dof.html

BOOKS:
Kalman Filter for Beginners  ISBN 1463648359