EKF: fixed some comment typos

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2026-11-02 01:01:36 +08:00 · 2019-03-18 10:20:33 -04:00
parent 6e77b197c7
commit f0889c1760
27 changed files with 133 additions and 134 deletions
@@ -21,7 +21,7 @@ imu_data.accel_dt = IMT(:,4);
 imu_data.del_vel = IMT(:,9:11);
 save imu_data.mat imu_data;

-%% convert magnetomer data
+%% convert magnetometer data
 clear mag_data;
 last_time = 0;
 output_index = 1;
@@ -25,7 +25,7 @@ imu_data.del_ang = [gyro_rad0.*imu_data.gyro_dt, gyro_rad1.*imu_data.gyro_dt, gy
 imu_data.accel_dt = accelerometer_integral_dt ./ 1e6;
 imu_data.del_vel = [accelerometer_m_s20.*imu_data.accel_dt, accelerometer_m_s21.*imu_data.accel_dt, accelerometer_m_s22.*imu_data.accel_dt];

-%% convert magnetomer data
+%% convert magnetometer data
 clear mag_data;
 last_time = 0;
 output_index = 1;
@@ -8,7 +8,7 @@ function [...
    P, ... % predicted covariance
    magMea, ... % body frame magnetic flux measurements
    testRatio, ... % Size of magnetometer innovation in standard deviations before measurements are rejected
-    R_MAG) % magnetoemter measurement variance - gauss^2
+    R_MAG) % magnetometer measurement variance - gauss^2

 q0 = states(1);
 q1 = states(2);
@@ -87,7 +87,7 @@ stateVectorNew = [quatNew;vNew;pNew;dAngBiasNew;dVelBiasNew;magNnew;magEnew;magD

 % Define the control (disturbance) vector. Error growth in the inertial
 % solution is assumed to be driven by 'noise' in the delta angles and
-% velocities, after bias effects have been removed. This is OK becasue we
+% velocities, after bias effects have been removed. This is OK because we
 % have sensor bias accounted for in the state equations.
 distVector = [daxVar;dayVar;dazVar;dvxVar;dvyVar;dvzVar];

@@ -6,7 +6,7 @@ function P  = PredictCovariance(deltaAngle, ...
    param) % tuning parameters
    
 % Set filter state process noise other than IMU errors, which are already
-% built into the derived covariance predition equations.
+% built into the derived covariance prediction equations.
 % This process noise determines the rate of estimation of IMU bias errors
 dAngBiasSigma = dt*dt*param.prediction.dAngBiasPnoise;
 dVelBiasSigma = dt*dt*param.prediction.dVelBiasPnoise;
@@ -249,7 +249,7 @@ for index = indexStart:indexStop
                end
                
            elseif (param.fusion.magFuseMethod == 2)
-                % fuse magnetomer data as a single magnetic heading measurement
+                % fuse magnetometer data as a single magnetic heading measurement
                [states, covariance, hdgInnov, hdgInnovVar] = FuseMagHeading(states, covariance, mag_data.field_ga(latest_mag_index,:), param.fusion.magDeclDeg*deg2rad, param.fusion.magHdgGate, param.fusion.magHdgError^2);
                
                % log data
@@ -317,7 +317,7 @@ for index = indexStart:indexStop
                viso_fuse_index = viso_fuse_index + 1;
                last_drift_constrain_time = local_time;
                
-                % convert delta positon measurements to velocity
+                % convert delta position measurements to velocity
                relVelBodyMea = [viso_data.dPosX(latest_viso_index);viso_data.dPosY(latest_viso_index);viso_data.dPosZ(latest_viso_index)]./viso_data.dt(latest_viso_index);
                
                % convert quality metric to equivalent observation error
@@ -25,7 +25,7 @@ param.fusion.baroHgtGate = 5.0; % Size of the IMU velocity innovation consistenc
 param.fusion.baroHgtNoise = 2.0; % 1SD observation noise of the baro measurements (m)

 %% Magnetometer measurement fusion
-param.fusion.magTimeDelay = 0.0; % Magnetomer time delay relative to IMU (sec)
+param.fusion.magTimeDelay = 0.0; % magnetometer time delay relative to IMU (sec)
 param.fusion.magFuseMethod = 1; % 0: 3-Axis field fusion with free declination, 1: 3-Axis field fusion with constrained declination, 2: magnetic heading fusion. (None)
 param.fusion.magFieldError = 0.05; % Magnetic field measurement 1SD error including hard and soft iron interference. Used when magFuseMethod = 0 or 1. (gauss)
 param.fusion.magHdgError = 0.1745; % Magnetic heading measurement 1SD error including hard and soft iron interference. Used when magFuseMethod = 2. (rad)
@@ -25,7 +25,7 @@ param.fusion.baroHgtGate = 5.0; % Size of the IMU velocity innovation consistenc
 param.fusion.baroHgtNoise = 2.0; % 1SD observation noise of the baro measurements (m)

 %% Magnetometer measurement fusion
-param.fusion.magTimeDelay = 0.0; % Magnetomer time delay relative to IMU (sec)
+param.fusion.magTimeDelay = 0.0; % magnetometer time delay relative to IMU (sec)
 param.fusion.magFuseMethod = 1; % 0: 3-Axis field fusion with free declination, 1: 3-Axis field fusion with constrained declination, 2: magnetic heading fusion. (None)
 param.fusion.magFieldError = 0.05; % Magnetic field measurement 1SD error including hard and soft iron interference. Used when magFuseMethod = 0 or 1. (gauss)
 param.fusion.magHdgError = 0.1745; % Magnetic heading measurement 1SD error including hard and soft iron interference. Used when magFuseMethod = 2. (rad)
@@ -62,7 +62,7 @@ syms R_DECL R_YAW real; % variance of declination or yaw angle observation
 syms BCXinv BCYinv real % inverse of ballistic coefficient for wind relative movement along the x and y  body axes
 syms rho real % air density (kg/m^3)
 syms R_ACC real % variance of accelerometer measurements (m/s^2)^2
-syms Kaccx Kaccy real % derivative of X and Y body specific forces wrt componenent of true airspeed along each axis (1/s)
+syms Kaccx Kaccy real % derivative of X and Y body specific forces wrt component of true airspeed along each axis (1/s)

 %% define the state prediction equations