ardupilot/libraries/AP_NavEKF/Models
Ricardo de Almeida Gonzaga 267a74ebb2 AP_NavEKF: Fix typos 2016-05-13 19:20:06 -03:00
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AttErrVecMathExample AP_NavEKF: Fix typos 2016-05-13 19:20:06 -03:00
Common AP_NavEKF: Add Matlab derivations and simulations behind small EKF 2015-04-10 11:07:21 +09:00
GimbalEstimatorExample AP_NavEKF: Fix typos 2016-05-13 19:20:06 -03:00
QuaternionMathExample AP_NavEKF: Add Matlab derivations and simulations behind small EKF 2015-04-10 11:07:21 +09:00
testData AP_NavEKF: Add Matlab derivations and simulations behind small EKF 2015-04-10 11:07:21 +09:00
ReadMe.txt AP_NavEKF: Add Matlab derivations and simulations behind small EKF 2015-04-10 11:07:21 +09:00

ReadMe.txt

Matlab derivations and simulations relating to development of the small EKF containing the following material:

testData: bench and flight test data used by the various estimator test harnesses
QuaternionMathExample: Small EKF using the same quaternion attitude representation as the main EKF and with a in-flight alignment test using real data. The inability to perform and in-flight alignment demonstrated by this example shows why we have change to a different attitude representation for the samll EKF.
AttErrVecExample: Small EKF using a new error vector representation for the vehicle attitude and subjected to in-flight alignment tests using both simulated and real data. The robust alignment achieved shows why this new math has been selected for use in the small EKF.
GimbalEstimatorExample: A simulation of 3 axis stabilised gimbal estimator showing application of the small EKF combined with a high rate predictor running on the gimbal that is corrected using the EKF attitude estimates.
Common: Common Matlab functions