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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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test/test_EKF_fusionLogic.cpp
+2 -2
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@@ -335,14 +335,14 @@ TEST_F(EkfFusionLogicTest, doRangeHeightFusion)
// WHEN: commanding range height and sending range data
_ekf_wrapper.setRangeHeight();
_sensor_simulator.startRangeFinder();
_sensor_simulator.runSeconds(2);
_sensor_simulator.runSeconds(2.5);
// THEN: EKF should intend to fuse range height
EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
// WHEN: stop sending range data
_sensor_simulator.stopRangeFinder();
_sensor_simulator.runSeconds(2);
_sensor_simulator.runSeconds(2.5);
// THEN: EKF should stop to intend to use range height
EXPECT_FALSE(_ekf_wrapper.isIntendingRangeHeightFusion());