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update change indicator

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The result is slightly different because we now only set the tilt
covariance (before, tilt variance was applied to all axes)
This commit is contained in:
bresch
2023-08-29 10:57:49 -04:00
committed by Daniel Agar
parent 0282f85cd4
commit 78d75ada3e
2 changed files with 24 additions and 24 deletions
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src/modules/ekf2/test/change_indication/iris_gps.csv
+12 -12
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@@ -4,10 +4,10 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -92,7 +92,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -217,16 +217,16 @@ 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]
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151 14890000 0.98 -0.0071 -0.011 0.19 0.0074 1.6e-05 0.023 0.006 0.00091 0.014 -0.0012 -0.006 7.9e-05 0.0032 0.004 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.0002 0.0002 0.0045 0.049 0.049 0.007 0.054 0.054 0.037 2.7e-05 2.8e-05 1.1e-05 0.035 0.035 0.0005 0 0 0 0 0 0 0 0
152 14990000 0.98 -0.0073 -0.011 0.19 0.0061 -0.0016 0.026 0.0047 -0.0007 0.017 -0.0012 -0.0061 7.8e-05 0.003 0.0038 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00019 0.00019 0.0045 0.042 0.042 0.0069 0.047 0.047 0.036 2.6e-05 2.6e-05 1.1e-05 0.035 0.035 0.0005 0 0 0 0 0 0 0 0
153 15090000 0.98 -0.0072 -0.011 0.19 0.0062 -0.00056 0.03 0.0053 -0.00085 -0.00086 0.019 -0.0012 -0.0061 7.8e-05 0.0031 0.0038 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.0002 0.0002 0.0045 0.048 0.048 0.007 0.054 0.054 0.036 2.6e-05 2.6e-05 1.1e-05 0.035 0.035 0.0005 0 0 0 0 0 0 0 0
154 15190000 0.98 -0.0074 -0.011 0.19 0.0043 -0.0016 0.03 0.0042 -0.00077 0.021 -0.0012 -0.0061 7.8e-05 0.003 0.0037 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00019 0.00019 0.0045 0.041 0.041 0.007 0.047 0.047 0.036 2.4e-05 2.4e-05 1.1e-05 0.035 0.035 0.0005 0 0 0 0 0 0 0 0
155 15290000 0.98 -0.0075 -0.011 0.19 0.0049 -0.0027 0.03 0.0047 -0.00097 0.018 -0.0012 -0.0061 7.8e-05 0.0033 0.0035 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00019 0.00019 0.0045 0.047 0.047 0.0071 0.054 0.054 0.035 2.4e-05 2.4e-05 1.1e-05 0.035 0.035 0.0005 0 0 0 0 0 0 0 0
156 15390000 0.98 -0.0075 -0.011 0.19 0.0051 -0.00031 0.029 0.0037 -0.00066 0.018 -0.0012 -0.0061 7.8e-05 0.0033 0.0035 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00019 0.00018 0.0046 0.041 0.041 0.0071 0.047 0.047 0.035 2.2e-05 2.2e-05 1.1e-05 0.034 0.034 0.0005 0 0 0 0 0 0 0 0
157 15490000 0.98 -0.0076 -0.011 0.19 0.0045 -0.0029 0.029 0.0042 -0.00079 0.019 -0.0012 -0.0061 7.8e-05 0.0034 0.0034 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00019 0.00019 0.0046 0.046 0.046 0.0072 0.053 0.053 0.035 2.2e-05 2.2e-05 1.1e-05 0.034 0.034 0.0005 0 0 0 0 0 0 0 0
158 15590000 0.98 -0.0078 -0.011 0.19 0.0081 -0.0067 0.029 0.0062 -0.0047 0.018 -0.0011 -0.0061 7.7e-05 0.0038 0.0023 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00018 0.00018 0.0046 0.04 0.04 0.0072 0.047 0.047 0.035 2.1e-05 2.1e-05 1.1e-05 0.034 0.034 0.0005 0 0 0 0 0 0 0 0
159 15690000 0.98 -0.0077 -0.011 0.19 0.0099 -0.0099 0.029 0.0072 -0.0056 0.019 -0.0011 -0.0061 7.7e-05 0.0039 0.0022 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00019 0.00019 0.0046 0.045 0.045 0.0073 0.053 0.053 0.034 2.1e-05 2.1e-05 1.1e-05 0.034 0.034 0.0005 0 0 0 0 0 0 0 0
160 15790000 0.98 -0.0077 -0.011 0.19 0.0064 -0.0092 0.029 0.0055 -0.0043 0.02 -0.0011 -0.0061 7.8e-05 7.7e-05 0.0039 0.0025 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00018 0.00018 0.0046 0.04 0.04 0.0073 0.046 0.046 0.034 1.9e-05 1.9e-05 1.1e-05 0.034 0.034 0.0005 0 0 0 0 0 0 0 0
161 15890000 0.98 -0.0078 -0.011 0.19 0.0053 -0.0076 0.03 0.0061 -0.0052 0.02 -0.0011 -0.0061 7.8e-05 7.7e-05 0.0041 0.0023 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00018 0.00018 0.0046 0.045 0.045 0.0074 0.053 0.053 0.034 1.9e-05 1.9e-05 1.1e-05 0.034 0.034 0.0005 0 0 0 0 0 0 0 0
162 15990000 0.98 -0.0076 -0.011 0.19 0.0033 -0.0061 0.027 0.0048 -0.004 0.019 -0.0012 -0.0061 7.8e-05 0.0043 0.0024 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00017 0.00017 0.0046 0.039 0.039 0.0074 0.046 0.046 0.034 1.7e-05 1.7e-05 1.1e-05 0.034 0.034 0.0005 0 0 0 0 0 0 0 0
163 16090000 0.98 -0.0076 -0.011 0.19 0.0026 -0.0074 0.024 0.0051 -0.0046 0.019 -0.0012 -0.0061 7.8e-05 0.0044 0.0022 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00018 0.00018 0.0046 0.044 0.044 0.0076 0.053 0.053 0.034 1.7e-05 1.7e-05 1.1e-05 0.034 0.034 0.0005 0 0 0 0 0 0 0 0
164 16190000 0.98 -0.0075 -0.011 0.19 -0.0013 -0.005 0.023 0.0027 -0.0034 0.016 -0.0012 -0.0061 7.8e-05 0.0045 0.0023 -0.14 0.37 0.0037 0.025 0 0 0 0 0 0.00017 0.00017 0.00017 0.0046 0.039 0.039 0.0076 0.046 0.046 0.034 1.6e-05 1.6e-05 1.1e-05 0.033 0.033 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 0.016 -0.29 -0.0014 -0.0059 8.6e-05 0.015 0.00065 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00018 9.5e-05 9.3e-05 0.0049 0.026 0.026 0.0083 0.048 0.048 0.036 1.4e-06 1.4e-06 1.1e-05 0.029 0.029 0.0005 0 0 0 0 0 0 0 0
218 21590000 0.98 -0.0033 -0.0083 0.19 -0.031 0.043 -1 -0.008 0.017 -0.38 -0.0014 -0.0059 8.6e-05 0.015 0.0006 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00018 9.2e-05 9.1e-05 0.0049 0.023 0.023 0.0082 0.043 0.043 0.036 1.3e-06 1.3e-06 1.1e-05 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 8.6e-05 0.015 0.00043 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00018 9.3e-05 9.1e-05 0.0049 0.025 0.025 0.0083 0.048 0.048 0.036 1.3e-06 1.3e-06 1.1e-05 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 0.033 -1.3 -0.0038 0.018 -0.61 -0.0014 -0.0058 8.7e-05 8.6e-05 0.016 0.00024 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00018 9e-05 8.9e-05 0.0049 0.023 0.023 0.0082 0.043 0.043 0.036 1.2e-06 1.2e-06 1.1e-05 0.028 0.029 0.0005 0 0 0 0 0 0 0 0
221 21890000 0.98 -0.0043 -0.0085 0.19 -0.018 0.028 -1.4 -0.0057 0.021 -0.75 -0.0014 -0.0058 8.7e-05 8.6e-05 0.016 0.00011 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00018 9.1e-05 8.9e-05 0.0049 0.025 0.025 0.0082 0.048 0.048 0.036 1.2e-06 1.2e-06 1.1e-05 0.028 0.029 0.0005 0 0 0 0 0 0 0 0
222 21990000 0.98 -0.005 -0.0088 0.19 -0.014 0.023 -1.4 -0.00035 0.017 -0.89 -0.0014 -0.0058 8.6e-05 0.015 0.00035 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00018 8.8e-05 8.7e-05 0.005 0.022 0.022 0.0082 0.043 0.043 0.036 1.2e-06 1.2e-06 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
223 22090000 0.98 -0.0057 -0.0096 0.19 -0.012 0.019 -1.4 -0.0017 0.019 -1 -0.0014 -0.0058 8.6e-05 0.016 0.00022 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00018 8.9e-05 8.7e-05 0.005 0.024 0.024 0.0082 0.048 0.048 0.036 1.2e-06 1.2e-06 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
224 22190000 0.98 -0.0062 -0.0099 0.19 -0.0035 0.013 -1.4 0.006 0.013 -1.2 -0.0014 -0.0058 8.6e-05 0.016 0.00026 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00018 8.7e-05 8.5e-05 0.005 0.021 0.021 0.0081 0.043 0.043 0.036 1.1e-06 1.1e-06 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
225 22290000 0.98 -0.0069 -0.01 0.19 0.0016 0.0078 -1.4 0.0059 0.014 -1.3 -0.0014 -0.0058 8.6e-05 0.016 0.00016 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00018 8.7e-05 8.6e-05 0.005 0.023 0.023 0.0081 0.048 0.048 0.036 1.1e-06 1.1e-06 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
226 22390000 0.98 -0.0073 -0.01 0.19 0.0066 -0.0017 -1.4 0.013 0.0042 -1.5 -0.0014 -0.0058 8.6e-05 0.016 -0.00019 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00019 8.5e-05 8.4e-05 0.005 0.021 0.021 0.0081 0.043 0.043 0.036 1e-06 1e-06 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
227 22490000 0.98 -0.0074 -0.011 0.19 0.01 -0.0077 -1.4 0.014 0.0037 -1.6 -0.0014 -0.0058 8.6e-05 0.016 -0.00024 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00019 8.6e-05 8.4e-05 0.005 0.022 0.022 0.0081 0.047 0.047 0.036 1e-06 1e-06 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
228 22590000 0.98 -0.0073 -0.011 0.19 0.02 -0.017 -1.4 0.026 -0.0053 -1.7 -0.0014 -0.0058 8.6e-05 8.5e-05 0.016 -0.00039 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00019 8.4e-05 8.2e-05 0.005 0.02 0.02 0.0081 0.042 0.042 0.036 9.5e-07 9.4e-07 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
229 22690000 0.98 -0.0073 -0.012 0.19 0.022 -0.021 -1.4 0.028 -0.0072 -1.9 -0.0014 -0.0058 8.6e-05 8.5e-05 0.016 -0.00047 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00019 8.5e-05 8.3e-05 0.005 0.021 0.021 0.0081 0.047 0.047 0.036 9.5e-07 9.5e-07 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
230 22790000 0.98 -0.0073 -0.012 0.19 0.028 -0.029 -1.4 0.038 -0.017 -2 -0.0014 -0.0058 8.6e-05 0.016 -0.00059 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00019 8.3e-05 8.1e-05 0.005 0.019 0.019 0.0081 0.042 0.042 0.036 8.9e-07 8.9e-07 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
231 22890000 0.98 -0.0074 -0.012 0.19 0.031 -0.035 -1.4 0.041 -0.02 -2.2 -0.0014 -0.0058 8.6e-05 0.016 -0.00066 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00019 8.3e-05 8.1e-05 0.005 0.021 0.021 0.0081 0.047 0.047 0.036 8.9e-07 8.9e-07 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
232 22990000 0.98 -0.0074 -0.013 0.19 0.036 -0.04 -1.4 0.051 -0.031 -2.3 -0.0014 -0.0058 8.7e-05 0.016 -0.0008 -0.13 0.37 0.0037 0.025 0 0 0 0 0 0.00019 8.2e-05 8e-05 0.005 0.019 0.019 0.0081 0.042 0.042 0.036 8.4e-07 8.4e-07 1.1e-05 0.028 0.028 0.0005 0 0 0 0 0 0 0 0
319 31690000 0.98 -0.006 -0.015 0.18 -0.02 0.0056 0.76 -0.04 0.039 -0.44 -0.0014 -0.0057 0.00011 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 1e-05 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 0.003 0.76 -0.028 0.037 -0.36 -0.0014 -0.0057 0.00011 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 1e-05 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 0.00072 0.76 -0.029 0.038 -0.3 -0.0014 -0.0057 0.00011 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 1e-05 0.027 0.027 0.0005 0 0 0 0 0 0 0 0
322 31990000 0.98 -0.0062 -0.015 0.18 -0.00022 4.8e-05 4.7e-05 0.75 -0.017 0.035 -0.23 -0.0013 -0.0057 0.00011 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 2.9e-07 2.9e-07 1e-05 0.027 0.027 0.0005 0 0 0 0 0 0 0 0
323 32090000 0.98 -0.0066 -0.014 0.18 -0.00077 -0.0034 0.76 -0.017 0.034 -0.16 -0.0013 -0.0057 0.00011 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 1e-05 0.027 0.027 0.0005 0 0 0 0 0 0 0 0
324 32190000 0.98 -0.0067 -0.015 0.18 0.0045 -0.0066 0.76 -0.006 0.033 -0.092 -0.0013 -0.0057 0.00011 0.025 -0.014 -0.11 0.37 0.0037 0.025 0 0 0 0 0 0.00017 8.2e-05 8e-05 0.0048 0.012 0.012 0.0079 0.037 0.037 0.035 2.8e-07 2.8e-07 1e-05 0.027 0.027 0.0005 0 0 0 0 0 0 0 0
325 32290000 0.98 -0.0066 -0.015 0.18 0.0061 -0.0093 0.75 -0.0055 0.032 -0.024 -0.0013 -0.0057 0.00011 0.025 -0.014 -0.11 0.37 0.0037 0.025 0 0 0 0 0 0.00017 8.2e-05 8e-05 0.0048 0.013 0.013 0.008 0.04 0.04 0.035 2.8e-07 2.8e-07 1e-05 0.027 0.027 0.0005 0 0 0 0 0 0 0 0