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Apply measurementUpdate function

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kamilritz
2020-08-24 18:04:57 +10:00
committed by Paul Riseborough
parent 404edde7f3
commit 644e903552
6 changed files with 22 additions and 121 deletions
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EKF/mag_fusion.cpp
+8 -37
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@@ -399,33 +399,19 @@ void Ekf::fuseMag()
Kfusion(21) = HKZ23*HKZ24;
}
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
const SquareMatrix24f KHP = computeKHP(Kfusion, Hfusion);
const bool healthy = checkAndFixCovarianceUpdate(KHP);
const bool is_fused = measurementUpdate(Kfusion, Hfusion, _mag_innov(index));
if (index == 0) {
_fault_status.flags.bad_mag_x = !healthy;
_fault_status.flags.bad_mag_x = !is_fused;
} else if (index == 1) {
_fault_status.flags.bad_mag_y = !healthy;
_fault_status.flags.bad_mag_y = !is_fused;
} else if (index == 2) {
_fault_status.flags.bad_mag_z = !healthy;
_fault_status.flags.bad_mag_z = !is_fused;
}
if (healthy) {
// apply the covariance corrections
P -= KHP;
fixCovarianceErrors(true);
// apply the state corrections
fuse(Kfusion, _mag_innov(index));
// constrain the declination of the earth field states
if (is_fused) {
limitDeclination();
}
}
@@ -926,26 +912,11 @@ void Ekf::fuseDeclination(float decl_sigma)
const float innovation = math::constrain(atan2f(magE, magN) - getMagDeclination(), -0.5f, 0.5f);
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
// take advantage of the empty columns in KH to reduce the number of operations
const SquareMatrix24f KHP = computeKHP(Kfusion, Hfusion);
const bool is_fused = measurementUpdate(Kfusion, Hfusion, innovation);
const bool healthy = checkAndFixCovarianceUpdate(KHP);
_fault_status.flags.bad_mag_decl = !is_fused;
_fault_status.flags.bad_mag_decl = !healthy;
if (healthy) {
// apply the covariance corrections
P -= KHP;
fixCovarianceErrors(true);
// apply the state corrections
fuse(Kfusion, innovation);
// constrain the declination of the earth field states
if (is_fused) {
limitDeclination();
}
}