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EKF: Rationalise use of rotation matrices and improve efficiency

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Paul Riseborough
2016-04-12 11:14:31 +10:00
parent e10093854a
commit 5bf02517a7
6 changed files with 35 additions and 25 deletions
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EKF/ekf.h
+1 -1
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@@ -149,7 +149,7 @@ private:
Vector3f _earth_rate_NED; // earth rotation vector (NED) in rad/s
matrix::Dcm<float> _R_prev; // transformation matrix from earth frame to body frame of previous ekf step
matrix::Dcm<float> _R_to_earth; // transformation matrix from body frame to earth frame from last EKF predition
float P[_k_num_states][_k_num_states]; // state covariance matrix
float KH[_k_num_states][_k_num_states]; // intermediate variable for the covariance update