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ekf2: use more efficient covariance update computation

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KSK' is faster to compute than KHP and is mathematically equivalent
This commit is contained in:
bresch
2022-12-12 12:31:54 -05:00
committed by Daniel Agar
parent 61fa28c0d6
commit 41abf695a8
8 changed files with 21 additions and 49 deletions
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src/modules/ekf2/test/change_indication/iris_gps.csv
+2 -2
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@@ -306,9 +306,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
30390000,0.98,-0.0061,-0.013,0.19,-0.055,0.044,0.76,-0.066,0.049,-1.3,-1.4e-05,-5.7e-05,1.7e-06,0.00021,-0.00012,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.8e-05,0.013,0.013,0.0079,0.037,0.037,0.035,3.1e-11,3.1e-11,1.2e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
30490000,0.98,-0.0061,-0.013,0.18,-0.057,0.044,0.77,-0.072,0.054,-1.2,-1.4e-05,-5.7e-05,1.8e-06,0.00021,-0.00012,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.3e-05,8.1e-05,4.8e-05,0.014,0.014,0.008,0.041,0.041,0.036,3.1e-11,3.1e-11,1.2e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
30590000,0.98,-0.0065,-0.014,0.18,-0.053,0.041,0.76,-0.065,0.05,-1.2,-1.4e-05,-5.7e-05,1.9e-06,0.00021,-0.00013,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.8e-05,0.013,0.013,0.008,0.037,0.037,0.035,3e-11,3e-11,1.1e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
30690000,0.98,-0.0068,-0.014,0.18,-0.051,0.04,0.76,-0.07,0.054,-1.1,-1.4e-05,-5.7e-05,1.9e-06,0.00021,-0.00013,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.7e-05,0.013,0.013,0.008,0.041,0.041,0.035,3e-11,3e-11,1.1e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
30690000,0.98,-0.0068,-0.014,0.18,-0.051,0.04,0.76,-0.07,0.054,-1.1,-1.4e-05,-5.7e-05,1.9e-06,0.00022,-0.00013,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.7e-05,0.013,0.013,0.008,0.041,0.041,0.035,3e-11,3e-11,1.1e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
30790000,0.98,-0.0065,-0.013,0.18,-0.044,0.035,0.76,-0.063,0.052,-1,-1.4e-05,-5.7e-05,1.9e-06,0.00022,-0.00013,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.7e-05,0.013,0.013,0.008,0.037,0.037,0.035,3e-11,3e-11,1.1e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
30890000,0.98,-0.0059,-0.013,0.18,-0.044,0.032,0.76,-0.067,0.056,-0.95,-1.4e-05,-5.7e-05,1.8e-06,0.00022,-0.00013,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.7e-05,0.013,0.013,0.008,0.041,0.041,0.035,3e-11,3e-11,1.1e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
30890000,0.98,-0.0059,-0.013,0.18,-0.044,0.032,0.76,-0.067,0.056,-0.95,-1.4e-05,-5.7e-05,1.8e-06,0.00022,-0.00013,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.7e-05,0.013,0.013,0.008,0.041,0.04,0.035,3e-11,3e-11,1.1e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
30990000,0.98,-0.0061,-0.013,0.18,-0.037,0.026,0.76,-0.057,0.049,-0.88,-1.4e-05,-5.7e-05,1.8e-06,0.00022,-0.00014,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.7e-05,0.013,0.013,0.0079,0.037,0.037,0.035,3e-11,3e-11,1.1e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
31090000,0.98,-0.0062,-0.013,0.18,-0.035,0.025,0.76,-0.061,0.051,-0.81,-1.4e-05,-5.7e-05,1.8e-06,0.00022,-0.00014,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.7e-05,0.013,0.013,0.008,0.04,0.04,0.036,3e-11,3e-11,1.1e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
31190000,0.98,-0.0064,-0.013,0.18,-0.031,0.021,0.76,-0.052,0.046,-0.74,-1.4e-05,-5.7e-05,1.9e-06,0.00023,-0.00014,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.7e-06,8.2e-05,8.1e-05,4.7e-05,0.013,0.013,0.008,0.037,0.037,0.035,2.9e-11,2.9e-11,1.1e-10,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
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]
306 30390000 0.98 -0.0061 -0.013 0.19 -0.055 0.044 0.76 -0.066 0.049 -1.3 -1.4e-05 -5.7e-05 1.7e-06 0.00021 -0.00012 -0.0011 0.2 0.002 0.43 0 0 0 0 0 1.7e-06 8.2e-05 8.1e-05 4.8e-05 0.013 0.013 0.0079 0.037 0.037 0.035 3.1e-11 3.1e-11 1.2e-10 2.7e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
307 30490000 0.98 -0.0061 -0.013 0.18 -0.057 0.044 0.77 -0.072 0.054 -1.2 -1.4e-05 -5.7e-05 1.8e-06 0.00021 -0.00012 -0.0011 0.2 0.002 0.43 0 0 0 0 0 1.7e-06 8.3e-05 8.1e-05 4.8e-05 0.014 0.014 0.008 0.041 0.041 0.036 3.1e-11 3.1e-11 1.2e-10 2.7e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
308 30590000 0.98 -0.0065 -0.014 0.18 -0.053 0.041 0.76 -0.065 0.05 -1.2 -1.4e-05 -5.7e-05 1.9e-06 0.00021 -0.00013 -0.0011 0.2 0.002 0.43 0 0 0 0 0 1.7e-06 8.2e-05 8.1e-05 4.8e-05 0.013 0.013 0.008 0.037 0.037 0.035 3e-11 3e-11 1.1e-10 2.7e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
309 30690000 0.98 -0.0068 -0.014 0.18 -0.051 0.04 0.76 -0.07 0.054 -1.1 -1.4e-05 -5.7e-05 1.9e-06 0.00021 0.00022 -0.00013 -0.0011 0.2 0.002 0.43 0 0 0 0 0 1.7e-06 8.2e-05 8.1e-05 4.7e-05 0.013 0.013 0.008 0.041 0.041 0.035 3e-11 3e-11 1.1e-10 2.7e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
310 30790000 0.98 -0.0065 -0.013 0.18 -0.044 0.035 0.76 -0.063 0.052 -1 -1.4e-05 -5.7e-05 1.9e-06 0.00022 -0.00013 -0.0011 0.2 0.002 0.43 0 0 0 0 0 1.7e-06 8.2e-05 8.1e-05 4.7e-05 0.013 0.013 0.008 0.037 0.037 0.035 3e-11 3e-11 1.1e-10 2.7e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
311 30890000 0.98 -0.0059 -0.013 0.18 -0.044 0.032 0.76 -0.067 0.056 -0.95 -1.4e-05 -5.7e-05 1.8e-06 0.00022 -0.00013 -0.0011 0.2 0.002 0.43 0 0 0 0 0 1.7e-06 8.2e-05 8.1e-05 4.7e-05 0.013 0.013 0.008 0.041 0.041 0.04 0.035 3e-11 3e-11 1.1e-10 2.7e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
312 30990000 0.98 -0.0061 -0.013 0.18 -0.037 0.026 0.76 -0.057 0.049 -0.88 -1.4e-05 -5.7e-05 1.8e-06 0.00022 -0.00014 -0.0011 0.2 0.002 0.43 0 0 0 0 0 1.7e-06 8.2e-05 8.1e-05 4.7e-05 0.013 0.013 0.0079 0.037 0.037 0.035 3e-11 3e-11 1.1e-10 2.7e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
313 31090000 0.98 -0.0062 -0.013 0.18 -0.035 0.025 0.76 -0.061 0.051 -0.81 -1.4e-05 -5.7e-05 1.8e-06 0.00022 -0.00014 -0.0011 0.2 0.002 0.43 0 0 0 0 0 1.7e-06 8.2e-05 8.1e-05 4.7e-05 0.013 0.013 0.008 0.04 0.04 0.036 3e-11 3e-11 1.1e-10 2.7e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
314 31190000 0.98 -0.0064 -0.013 0.18 -0.031 0.021 0.76 -0.052 0.046 -0.74 -1.4e-05 -5.7e-05 1.9e-06 0.00023 -0.00014 -0.0011 0.2 0.002 0.43 0 0 0 0 0 1.7e-06 8.2e-05 8.1e-05 4.7e-05 0.013 0.013 0.008 0.037 0.037 0.035 2.9e-11 2.9e-11 1.1e-10 2.7e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0