Paul Riseborough
7069fb7a04
EKF: refresh auto code for mag fusion
2016-05-05 21:23:03 +10:00
Paul Riseborough
a373ada858
EKF: explicitly define floating point type in hardcoded constants
2016-05-05 21:23:03 +10:00
Paul Riseborough
82da832816
EKF: tidy up Kalman gain calculations
...
Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.
2016-05-05 21:23:03 +10:00
Paul Riseborough
fe9f88a8b4
EKF: test new derivation
...
Use direct attitude parameterisation
Discard scale factors
Add accel bias
2016-05-05 21:23:03 +10:00
Paul Riseborough
5bf02517a7
EKF: Rationalise use of rotation matrices and improve efficiency
2016-04-12 11:14:31 +10:00
Paul Riseborough
6b2e2dba90
EKF: Add GPS height option and improve height recovery
2016-03-16 10:40:51 +11:00
Paul Riseborough
5242af84af
EKF: Standardise covariance update and use static arrays for large matrices
2016-03-05 08:58:19 +11:00
Paul Riseborough
1414d591ce
EKF: Fix bug in declination fusion indexing
2016-03-05 08:43:33 +11:00
Paul Riseborough
a6da73fa83
EKF: Add missing div0 protection
2016-03-01 18:03:35 +11:00
Paul Riseborough
97df006a6a
EKF: Update direct heading fusion
...
Adds a 312 Euler rotation sequence option for magnetic heading fusion.
Switches between it and the normal 321 sequence option depending on orientation.
2016-03-01 15:25:22 +11:00
Paul Riseborough
0ad5329caf
EKF: Update comments in heading fusion to clarify calculation of magnetic heading
2016-02-24 12:06:11 +11:00
Roman Bapst
8eb63a150d
Merge pull request #53 from bugobliterator/pr-sharedlib
...
Shared Library build
2016-02-23 08:30:46 +01:00
Paul Riseborough
a711632017
EKF: Add method to fuse horizontal magnetometer data
...
This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
2016-02-20 19:45:32 +11:00
Paul Riseborough
6df6ac0023
EKF: Fix sign error in heading innovation calculation and clean up
2016-02-20 11:54:53 +11:00
Paul Riseborough
90e1bd3e36
EKF: wrap compass yaw estimate
2016-02-19 16:53:55 +11:00
Paul Riseborough
7d6226eb45
EKF: Improve efficiency of yaw angle fusion
...
Use direct calculation of Kaman gains with optimised algebra
2016-02-19 16:25:01 +11:00
Paul Riseborough
7f121e81e4
EKF: Update yaw innovation calculation to match revised derivation
...
The new derivation does not use magnetic field measurements in the observation model and instead fuses in a heading measurement directly.
2016-02-19 16:18:07 +11:00
bugobliterator
263c48d089
EKF: remove dependecies and allow ekf to be built as standalone shared lib
2016-02-17 17:33:18 -08:00
Paul Riseborough
1d40507af8
EKF: Set Kaman gains to zero for un-used states
...
This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
2016-02-16 11:08:30 +11:00
Paul Riseborough
402206a305
EKF: Fix critical bug in fusion of yaw and declination observations
...
This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.
2016-02-16 11:08:30 +11:00
Paul Riseborough
2bbe7f9a1c
EKF: Update magnetometer fusion to use declination from the specified source
2016-02-14 22:01:53 +01:00
Paul Riseborough
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
2016-02-08 15:12:38 +11:00
Paul Riseborough
dbb8e12948
EKF: Add fusion method to constrain declination when unobservable
...
When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.
2016-02-08 14:18:43 +11:00
Paul Riseborough
9347afe250
EKF: Use unique variable name for mag heading fusion observation Jacobian
2016-02-08 14:18:43 +11:00
Paul Riseborough
3f81eb7d1b
EKF: fix formatting
2016-02-04 17:15:03 +11:00
Paul Riseborough
2b1e8fe910
EKF: Update tuning parameters
...
Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Scale vertical GPS noise to allow for average EPV to EPH ratio.
Update documentation and display names for consistency.
2016-02-03 17:05:45 +11:00
bugobliterator
d79e12dfa1
EKF: fix code style
2016-01-31 00:12:16 -08:00
Paul Riseborough
46b0e9654c
Add filter control logic
2016-01-30 09:01:48 +11:00
Paul Riseborough
802129f384
EKF: Add magnetometer fusion error handling
2016-01-28 09:53:55 +11:00
Roman
8d0022ab1e
enable estimator state and innovations data logging
2016-01-22 11:31:14 +01:00
Roman Bapst
67646a15b0
added full mag fusion
2015-12-10 09:07:00 +01:00
