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Yaw measurement jacobian to Vector4f

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kamilritz
2020-08-04 09:57:00 +02:00
committed by Mathieu Bresciani
parent 15d360f446
commit 7eb2b08eed
2 changed files with 30 additions and 31 deletions
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EKF/ekf.h
+2 -1
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@@ -51,6 +51,7 @@ public:
typedef matrix::Vector<float, _k_num_states> Vector24f;
typedef matrix::SquareMatrix<float, _k_num_states> SquareMatrix24f;
typedef matrix::SquareMatrix<float, 2> Matrix2f;
typedef matrix::Vector<float, 4> Vector4f;
Ekf() = default;
virtual ~Ekf() = default;
@@ -553,7 +554,7 @@ private:
// variance : observaton variance
// gate_sigma : innovation consistency check gate size (Sigma)
// jacobian : 4x1 vector of partial derivatives of observation wrt each quaternion state
void updateQuaternion(const float innovation, const float variance, const float gate_sigma, const float (&yaw_jacobian)[4]);
void updateQuaternion(const float innovation, const float variance, const float gate_sigma, const Vector4f& yaw_jacobian);
// fuse the yaw angle obtained from a dual antenna GPS unit
void fuseGpsYaw();