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ekf2: covariance update use IMU sample dt (#22032)

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- usually the delta angle and delta velocity dt is the same, but they can be slightly different
This commit is contained in:
Daniel Agar
2023-09-13 09:58:56 -04:00
committed by GitHub
parent 9bcfd1a7f7
commit 016db84d69
5 changed files with 672 additions and 663 deletions
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src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
+7 -7
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@@ -215,9 +215,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -242,7 +242,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -290,7 +290,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -322,7 +322,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -334,7 +334,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
215 21290000 0.71 0.00047 -0.012 0.71 -0.004 -0.018 0.016 0.0034 -0.0055 -3.7e+02 -0.0014 -0.006 4.1e-05 -0.00073 0.007 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.0024 9.9e-05 9.8e-05 0.0023 0.024 0.024 0.0086 0.048 0.048 0.039 1.5e-06 1.5e-06 3.1e-06 0.029 0.029 0.0005 0 0 0 0 0 0 0 0
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src/modules/ekf2/test/change_indication/iris_gps.csv
+4 -4
View File
@@ -214,7 +214,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -249,7 +249,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -319,8 +319,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
214 21190000 0.98 0.0017 -0.0059 0.19 -0.049 0.05 -0.5 -0.0013 0.0035 -0.078 -0.0014 -0.0059 8.3e-06 0.015 0.0012 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00017 9.6e-05 9.4e-05 0.0045 0.023 0.023 0.0083 0.043 0.043 0.036 1.6e-06 1.6e-06 3.1e-06 0.029 0.029 0.0005 0 0 0 0 0 0 0 0
215 21290000 0.98 -0.0005 -0.0072 0.19 -0.049 0.054 -0.63 -0.0062 0.0087 -0.14 -0.0014 -0.0059 8.3e-06 0.015 0.0011 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00017 9.6e-05 9.5e-05 0.0045 0.026 0.026 0.0083 0.048 0.048 0.036 1.6e-06 1.6e-06 3.1e-06 0.029 0.029 0.0005 0 0 0 0 0 0 0 0
216 21390000 0.98 -0.002 -0.0079 0.19 -0.045 0.05 -0.75 -0.0051 0.011 -0.2 -0.0014 -0.0059 8.3e-06 0.015 0.00077 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00017 9.4e-05 9.2e-05 0.0045 0.023 0.023 0.0082 0.043 0.043 0.036 1.4e-06 1.4e-06 3.1e-06 0.029 0.029 0.0005 0 0 0 0 0 0 0 0
217 21490000 0.98 -0.0028 -0.0083 0.19 -0.04 0.047 -0.89 -0.0093 -0.0094 0.016 -0.29 -0.0014 -0.0059 8.3e-06 0.015 0.00067 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00017 9.5e-05 9.3e-05 0.0045 0.026 0.026 0.0083 0.048 0.048 0.036 1.4e-06 1.4e-06 3.1e-06 0.029 0.029 0.0005 0 0 0 0 0 0 0 0
218 21590000 0.98 -0.0033 -0.0083 0.19 -0.032 0.043 -1 -0.008 0.016 -0.38 -0.0014 -0.0059 8.2e-06 0.015 0.00063 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00017 9.2e-05 9.1e-05 0.0045 0.023 0.023 0.0082 0.043 0.043 0.036 1.3e-06 1.3e-06 3.1e-06 0.029 0.029 0.0005 0 0 0 0 0 0 0 0
219 21690000 0.98 -0.0036 -0.0082 0.19 -0.029 0.039 -1.1 -0.011 0.021 -0.49 -0.0014 -0.0059 8.2e-06 0.015 0.00046 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00017 9.3e-05 9.1e-05 0.0045 0.025 0.025 0.0083 0.048 0.048 0.036 1.3e-06 1.3e-06 3.1e-06 0.029 0.029 0.0005 0 0 0 0 0 0 0 0
220 21790000 0.98 -0.004 -0.0084 0.19 -0.021 0.032 -1.3 -0.0038 0.018 -0.61 -0.0014 -0.0058 8.2e-06 0.016 0.00027 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00017 9e-05 8.9e-05 0.0045 0.023 0.023 0.0082 0.043 0.043 0.036 1.2e-06 1.2e-06 3.1e-06 0.028 0.029 0.0005 0 0 0 0 0 0 0 0
249 24690000 0.98 -0.011 -0.015 0.19 0.059 -0.061 0.064 0.17 -0.12 -3.6 -0.0014 -0.0058 8.6e-06 0.019 -0.0037 -0.12 0.37 0.0037 0.025 0 0 0 0 0 0.00017 7.9e-05 7.7e-05 0.0046 0.016 0.016 0.0081 0.044 0.044 0.036 5.9e-07 5.9e-07 3.2e-06 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
250 24790000 0.98 -0.011 -0.014 0.19 0.056 -0.059 0.056 0.17 -0.11 -3.6 -0.0015 -0.0058 8.9e-06 0.019 -0.0043 -0.12 0.37 0.0037 0.025 0 0 0 0 0 0.00017 7.9e-05 7.7e-05 0.0046 0.015 0.015 0.008 0.039 0.039 0.035 5.7e-07 5.7e-07 3.2e-06 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
251 24890000 0.98 -0.011 -0.013 0.19 0.054 -0.062 0.045 0.18 -0.12 -3.6 -0.0015 -0.0058 8.9e-06 0.019 -0.0043 -0.12 0.37 0.0037 0.025 0 0 0 0 0 0.00017 7.9e-05 7.8e-05 0.0046 0.016 0.016 0.008 0.043 0.043 0.035 5.7e-07 5.7e-07 3.2e-06 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
252 24990000 0.98 -0.011 -0.013 0.19 0.046 -0.058 0.038 0.18 -0.11 -3.6 -0.0015 -0.0058 9.2e-06 0.019 -0.005 -0.12 0.37 0.0037 0.025 0 0 0 0 0 0.00017 7.9e-05 7.7e-05 0.0046 0.015 0.015 0.008 0.039 0.039 0.035 5.5e-07 5.5e-07 3.2e-06 0.027 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
253 25090000 0.98 -0.011 -0.013 0.19 0.042 -0.057 0.035 0.18 -0.12 -3.6 -0.0015 -0.0058 9.2e-06 0.019 -0.005 -0.12 0.37 0.0037 0.025 0 0 0 0 0 0.00017 7.9e-05 7.8e-05 0.0046 0.016 0.016 0.0081 0.043 0.043 0.035 5.5e-07 5.5e-07 3.2e-06 0.027 0.028 0.0005 0 0 0 0 0 0 0 0
254 25190000 0.98 -0.011 -0.013 0.19 0.037 -0.05 0.035 0.18 -0.11 -3.6 -0.0015 -0.0058 9.6e-06 0.018 -0.0055 -0.12 0.37 0.0037 0.025 0 0 0 0 0 0.00017 7.9e-05 7.8e-05 0.0046 0.015 0.015 0.008 0.039 0.039 0.035 5.3e-07 5.3e-07 3.2e-06 0.027 0.028 0.0005 0 0 0 0 0 0 0 0
255 25290000 0.98 -0.011 -0.012 0.19 0.032 -0.052 0.029 0.18 -0.11 -3.6 -0.0015 -0.0058 9.6e-06 0.018 -0.0055 -0.12 0.37 0.0037 0.025 0 0 0 0 0 0.00017 8e-05 7.8e-05 0.0046 0.016 0.016 0.0081 0.043 0.043 0.036 5.3e-07 5.3e-07 3.2e-06 0.027 0.028 0.0005 0 0 0 0 0 0 0 0
319 31690000 0.98 -0.006 -0.015 0.18 -0.02 0.0055 0.76 -0.04 0.039 -0.44 -0.0014 -0.0057 2.6e-05 0.023 -0.014 -0.11 0.37 0.0037 0.025 0 0 0 0 0 0.00017 8.3e-05 8.1e-05 0.0047 0.013 0.013 0.008 0.04 0.04 0.035 2.9e-07 2.9e-07 3.2e-06 0.027 0.027 0.0005 0 0 0 0 0 0 0 0
320 31790000 0.98 -0.0062 -0.015 0.18 -0.011 0.0029 0.76 -0.028 0.037 -0.36 -0.0014 -0.0057 2.6e-05 0.024 -0.014 -0.11 0.37 0.0037 0.025 0 0 0 0 0 0.00017 8.3e-05 8e-05 0.0047 0.012 0.012 0.008 0.037 0.037 0.035 2.9e-07 2.9e-07 3.2e-06 0.027 0.027 0.0005 0 0 0 0 0 0 0 0
321 31890000 0.98 -0.0059 -0.015 0.18 -0.0081 0.00064 0.76 -0.029 0.038 -0.3 -0.0014 -0.0057 2.6e-05 0.024 -0.014 -0.11 0.37 0.0037 0.025 0 0 0 0 0 0.00017 8.3e-05 8e-05 0.0047 0.013 0.013 0.008 0.04 0.04 0.035 2.9e-07 2.9e-07 3.2e-06 0.027 0.027 0.0005 0 0 0 0 0 0 0 0
322 31990000 0.98 -0.0062 -0.015 0.18 -0.00016 -2.2e-05 -2.6e-05 0.75 -0.017 0.034 -0.23 -0.0014 -0.0057 2.7e-05 0.024 -0.014 -0.11 0.37 0.0037 0.025 0 0 0 0 0 0.00017 8.2e-05 8e-05 0.0047 0.012 0.012 0.0079 0.037 0.037 0.035 2.8e-07 2.8e-07 3.2e-06 0.027 0.027 0.0005 0 0 0 0 0 0 0 0
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