I'm not sure if this goes here, but I'm having a bit of trouble understanding the Kalman filter. What I want to do is condition a sensor with a PID compensator to find the optimal gains for the PID filter. This is a sort of pole balancing problem with video. I was wondering if someone could give a good explanation of the basics of the Kalman filter.
Thanks in advance!
The most human readable intro with examples I have found so far is the SIGGRAPH Course Pack.
I am not sure I understand what you are trying to do. It seems to me you are trying to tune your PID controller but you do not need Kalman filter for that.