The Kalman filter is a very important type of filter in the signals as it allows you to estimate the measurements without knowing the future measurements, we will know what this filter is, what we can use it for and its stages. Taking this into account, available mathods fot traking the position or fan optical beam with a wavelength range of 630–850 nm are discussed and in particular the four quadrant photodiode which is the one we will use to capture the light, obtain its current and transform it to voltage to be able to filter it with the kalman filter and have the signal without noise. In addition, I will talk about how to calculate the position of said laser using the coordinates obtained with the four quadrant photodiode and filtered with my Kalman filter, first in Matlab and then taking into account the STM32F407G-DISC1 board.
