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implemented prediction of states and covariance matrix

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Roman
2015-12-07 22:41:11 +01:00
parent 16eb3b0e96
commit cfc39bc2f9
4 changed files with 144 additions and 23 deletions
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EKF/estimator_base.h
+22 -4
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
* Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,7 +35,7 @@
* @file estimator_base.h
* Definition of base class for attitude estimators
*
* @author Roman Bast <bastroman@gmail.com>
* @author Roman Bast <bapstroman@gmail.com>
*
*/
@@ -64,6 +64,8 @@ public:
EstimatorBase();
~EstimatorBase();
virtual void update() = 0;
// set delta angle imu data
void setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float *delta_ang, float *delta_vel);
@@ -159,8 +161,25 @@ protected:
uint32_t airspeed_delay_ms;
float requiredEph;
float requiredEpv;
} _params;
float dax_noise;
float day_noise;
float daz_noise;
float dvx_noise;
float dvy_noise;
float dvz_noise;
float delta_ang_sig;
float delta_vel_sig;
float delta_pos_sig;
float delta_gyro_bias_sig;
float delta_gyro_scale_sig;
float delta_vel_bias_z_sig;
float delta_mag_body_sig;
float delta_mag_earth_sig;
float delta_wind_sig;
} _params;
static const uint8_t OBS_BUFFER_LENGTH = 5;
static const uint8_t IMU_BUFFER_LENGTH = 25;
@@ -228,4 +247,3 @@ public:
void printGps(struct gpsSample *data);
void printStoredGps();
};