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EKF: Improve covariance prediction stability (#795)

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* EKF: Improve covariance prediction stability

Eliminates collapse of vertical velocity state variance due to rounding errors that can occur under some operating conditions.

* EKF: Fix typo

* test: Fix initialisation test cases

Provide sufficient time for variances to stabilise and fix calculation of reference quaternion for alignment.

* test: Allow for accumulated rounding error in IMU sampling test

* test: Allow sufficient time for quaternion variances to reduce after initial alignment

* test: Increase allowance for tilt alignment delay and inertial nav errors

* test: Increase allowance for tilt alignment delay and inertial nav errors

* adpat reset velocity test

* test: update change indication file

* test: Adjust tests to handle alignment time and prediction errors

* README.md: Add documentation for change indicator test
This commit is contained in:
Paul Riseborough
2020-04-23 14:38:09 +02:00
committed by GitHub
parent 65a4ca9d65
commit 8a9d961f0d
9 changed files with 404 additions and 369 deletions
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EKF/estimator_interface.h
+1 -1
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@@ -391,7 +391,7 @@ public:
void print_status();
static constexpr unsigned FILTER_UPDATE_PERIOD_MS{8}; // ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta
static constexpr unsigned FILTER_UPDATE_PERIOD_MS{10}; // ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta
static constexpr float FILTER_UPDATE_PERIOD_S{FILTER_UPDATE_PERIOD_MS * 0.001f};
// request the EKF reset the yaw to the estimate from the internal EKF-GSF filter