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299 Commits 514 Branches 136 Tags 234 MiB
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17 Commits

Author SHA1 Message Date
Paul Riseborough 470098e182 EKF: update default tuning parameters 
Parameters needed to be changed when covariance prediction error was corrected.
The magnetic earth and body field process noise now use separate parameters to help with tuning
 2016-04-05 22:23:37 +02:00
Paul Riseborough 03eac2f25e EKF: Apply covariance prediction derivation changes 2016-04-05 22:23:37 +02:00
Paul Riseborough 2c2850c0ce EKF: Add functions to get position and velocity state variance 2016-03-11 11:03:43 +11:00
Paul Riseborough 016695fc3e EKF: Reduce startup transients 
Update initial state variance values
 2016-02-24 11:48:42 +11:00
Roman Bapst 8eb63a150d Merge pull request #53 from bugobliterator/pr-sharedlib 
Shared Library build
 2016-02-23 08:30:46 +01:00
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 abf9476853 EKF: miscellaneous formatting and typo updates 2016-02-16 11:08:30 +11:00
Paul Riseborough ffe1d30864 EKF: Set covariances to zero for un-used states 2016-02-16 11:08:30 +11:00
Paul Riseborough 294aca8609 EKF: Improve variance limiting for stationary states 
Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.
 2016-02-16 11:08:30 +11:00
Paul Riseborough 69b8982043 EKF: Initialise variances to zero for un-used states 
Setting these variances to zero makes it less likely that these states will be modified by fusion processing.
 2016-02-16 11:08:30 +11:00
Paul Riseborough 2c8c6efb45 EKF: Eliminate use of power function to square numbers 
Use of the power function to square a number can be very inefficient depending on processor and compiler. Replace with an inlined function  that multiplies the number by itself. This has not been put into the maths library because the use of the sq() function is peculiar to the autocode generated for the EKF and an inlined function was desired.
 2016-02-08 11:11:59 +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
Roman 8de8b0eb76 prediction and vel pos heading fusion working 2015-12-09 17:47:52 +01:00
Roman d90c8fd7c2 fixed bug in covariance prediction 2015-12-07 22:41:11 +01:00
Roman 859502753d added file with covariance calculations 2015-12-06 13:10:49 +01:00