![]() |
0.4.1
|
Kalman filter matrices for the B-spline Multi-IMU fusion. More...
Go to the source code of this file.
Namespaces | |
namespace | NAV |
namespace | NAV::BsplineKF |
Functions | |
Eigen::MatrixXd | NAV::BsplineKF::designMatrix_H (const double &ti, const double &splineSpacing, const Eigen::Matrix3d &DCM_accel, const Eigen::Matrix3d &DCM_gyro, const size_t &pinIndex, const uint8_t &numMeasurements, const uint8_t &numStates, const uint8_t &numStatesEst, const uint8_t &numStatesPerPin) |
Calculates the design matrix H. | |
Eigen::MatrixXd | NAV::BsplineKF::initialErrorCovarianceMatrix_P0 (const std::vector< Eigen::VectorXd > &initCovariances, const uint8_t &numStates, const bool &imuCharacteristicsIdentical=false) |
Initial error covariance matrix P_0. | |
KalmanFilter | NAV::BsplineKF::initializeKalmanFilterManually (const size_t &numInputPins, const std::vector< PinData > &pinData, const PinDataBsplineKF &pinDataBsplineKF, const uint8_t &numStates, const double &dtInit, std::vector< Eigen::VectorXd > &processNoiseVariances, KalmanFilter &kalmanFilter, const bool &imuCharacteristicsIdentical, const bool &imuBiasesIdentical) |
Initializes the BsplineKF manually (i.e. using GUI inputs instead of averaging) | |
void | NAV::BsplineKF::processNoiseMatrix_Q (Eigen::MatrixXd &Q, const double &dt, const std::vector< Eigen::VectorXd > &processNoiseVariances, const uint8_t &numStates, const bool &imuCharacteristicsIdentical=false) |
Calculates the process noise matrix Q. | |
void | NAV::BsplineKF::rotateCoeffStates (Eigen::MatrixXd &x) |
Rotates the B-spline coefficient states in the state vector x, once a new B-spline is introduced. | |
void | NAV::BsplineKF::rotateErrorCovariances (Eigen::MatrixXd &P, uint8_t &numStates, const double &sigmaScalingFactorAngRate=3.0, const double &sigmaScalingFactorAccel=3.0) |
Rotates the B-spline coefficient error covariances in P, once a new B-spline is introduced. | |
Kalman filter matrices for the B-spline Multi-IMU fusion.
Definition in file BsplineKF.hpp.