Adrian Boeing (http://adrianboeing.blogspot.com/2010/03/alpha-beta-filters.html) puzzled me today.
I have been working for months with little success on a Kalman filter to improve the positioning of my robot when I read what he says about the Alpha-Beta filter! So, I change my angle of attack: I am trying to implement this much simple filter to optimize the data fusion between odometric and ultasonic.
