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116 lines
2.8 KiB
Markdown
116 lines
2.8 KiB
Markdown
# 模块参考：估计器
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## AttitudeEstimatorQ
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Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/attitude_estimator_q)
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### 描述
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Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.
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### Usage {#AttitudeEstimatorQ_usage}
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```
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AttitudeEstimatorQ <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## wind_estimator
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Source: [modules/airspeed_selector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airspeed_selector)
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### 描述
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This module provides a single airspeed_validated topic, containing indicated (IAS),
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calibrated (CAS), true airspeed (TAS) and the information if the estimation currently
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is invalid and if based sensor readings or on groundspeed minus windspeed.
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Supporting the input of multiple "raw" airspeed inputs, this module automatically switches
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to a valid sensor in case of failure detection. For failure detection as well as for
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the estimation of a scale factor from IAS to CAS, it runs several wind estimators
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and also publishes those.
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### Usage {#airspeed_estimator_usage}
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```
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airspeed_estimator <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## ekf2
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Source: [modules/ekf2](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2)
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### 描述
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基于扩展卡尔曼滤波器的姿态和位置估计器。 该模块同时应用于多旋翼和固定翼飞机。
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The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html) page.
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ekf2 can be started in replay mode (`-r`): in this mode, it does not access the system time, but only uses the
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timestamps from the sensor topics.
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### Usage {#ekf2_usage}
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```
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ekf2 <command> [arguments...]
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Commands:
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start
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[-r] Enable replay mode
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stop
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status print status info
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[-v] verbose (print all states and full covariance matrix)
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select_instance Request switch to new estimator instance
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<instance> Specify desired estimator instance
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```
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## local_position_estimator
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Source: [modules/local_position_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/local_position_estimator)
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### 描述
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基于扩展卡尔曼滤波器的姿态和位置估计器。
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### Usage {#local_position_estimator_usage}
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```
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local_position_estimator <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## mc_hover_thrust_estimator
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Source: [modules/mc_hover_thrust_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_hover_thrust_estimator)
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### 描述
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### Usage {#mc_hover_thrust_estimator_usage}
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```
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mc_hover_thrust_estimator <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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