BsplineKF.hpp File Reference

Kalman filter matrices for the B-spline Multi-IMU fusion. More...

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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.

Detailed Description

Kalman filter matrices for the B-spline Multi-IMU fusion.

Author

M. Maier (marce.nosp@m.l.ma.nosp@m.ier@i.nosp@m.ns.u.nosp@m.ni-st.nosp@m.uttg.nosp@m.art.d.nosp@m.e)

Date

2024-04-02

Definition in file BsplineKF.hpp.