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EKF: reduce KH to only the elements that are really needed, and merge the loops

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Beat Küng
2016-11-02 10:26:40 +01:00
parent 1b59a89a18
commit 07c6aabd98
3 changed files with 71 additions and 70 deletions
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EKF/airspeed_fusion.cpp
+13 -14
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@@ -161,23 +161,22 @@ void Ekf::fuseAirspeed()
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
float KH[_k_num_states][_k_num_states];
for (unsigned row = 0; row < _k_num_states; row++) {
KH[row][4] = Kfusion[row] * H_TAS[4];
KH[row][5] = Kfusion[row] * H_TAS[5];
KH[row][6] = Kfusion[row] * H_TAS[6];
KH[row][22] = Kfusion[row] * H_TAS[22];
KH[row][23] = Kfusion[row] * H_TAS[23];
}
float KHP[_k_num_states][_k_num_states];
float KH[5];
for (unsigned row = 0; row < _k_num_states; row++) {
KH[0] = Kfusion[row] * H_TAS[4];
KH[1] = Kfusion[row] * H_TAS[5];
KH[2] = Kfusion[row] * H_TAS[6];
KH[3] = Kfusion[row] * H_TAS[22];
KH[4] = Kfusion[row] * H_TAS[23];
for (unsigned column = 0; column < _k_num_states; column++) {
float tmp = KH[row][4] * P[4][column];
tmp += KH[row][5] * P[5][column];
tmp += KH[row][6] * P[6][column];
tmp += KH[row][22] * P[22][column];
tmp += KH[row][23] * P[23][column];
float tmp = KH[0] * P[4][column];
tmp += KH[1] * P[5][column];
tmp += KH[2] * P[6][column];
tmp += KH[3] * P[22][column];
tmp += KH[4] * P[23][column];
KHP[row][column] = tmp;
}
}