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altos: Correct model error covariance matrix
[fw/altos]
/
src
/
kalman
/
kalman.5c
diff --git
a/src/kalman/kalman.5c
b/src/kalman/kalman.5c
index cfb7abea4ff1435fe8c666433f9455081f014735..46fa8e1fdefecbcd9dad65a9e1208c4bb2df306a 100755
(executable)
--- a/
src/kalman/kalman.5c
+++ b/
src/kalman/kalman.5c
@@
-55,6
+55,12
@@
real default_σ_m = 5;
real default_σ_h = 20;
real default_σ_a = 2;
real default_σ_h = 20;
real default_σ_a = 2;
+real[3,3] model_error(t, Φ) = multiply_mat_val ((real[3,3]) {
+ { t**5 / 20, t**4 / 8, t**3 / 6 },
+ { t**4 / 8, t**3 / 3, t**2 / 2 },
+ { t**3 / 6, t**2 / 2, t }
+ }, Φ);
+
parameters_t param_both(real t, real σ_m, real σ_h, real σ_a) {
if (σ_m == 0)
σ_m = default_σ_m;
parameters_t param_both(real t, real σ_m, real σ_h, real σ_a) {
if (σ_m == 0)
σ_m = default_σ_m;
@@
-87,11
+93,7
@@
parameters_t param_both(real t, real σ_m, real σ_h, real σ_a) {
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
- .q = (real[3,3]) {
- { 0, 0, 0 },
- { 0, 0, 0 },
- {.0, 0, σ_m**2 },
- },
+ .q = model_error (t, σ_m**2),
/*
* Measurement error covariance
* Our sensors are independent, so
/*
* Measurement error covariance
* Our sensors are independent, so
@@
-140,11
+142,7
@@
parameters_t param_baro(real t, real σ_m, real σ_h) {
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
- .q = (real[3,3]) {
- { 0, 0, 0 },
- { 0, 0, 0 },
- {.0, 0, σ_m**2 },
- },
+ .q = model_error (t, σ_m**2),
/*
* Measurement error covariance
* Our sensors are independent, so
/*
* Measurement error covariance
* Our sensors are independent, so
@@
-191,11
+189,7
@@
parameters_t param_accel(real t, real σ_m, real σ_a) {
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
- .q = (real[3,3]) {
- { 0, 0, 0 },
- { 0, 0, 0 },
- {.0, 0, σ_m**2 },
- },
+ .q = model_error (t, σ_m**2),
/*
* Measurement error covariance
* Our sensors are independent, so
/*
* Measurement error covariance
* Our sensors are independent, so
@@
-236,11
+230,7
@@
parameters_t param_vel(real t) {
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
* Model error covariance. The only inaccuracy in the
* model is the assumption that acceleration is constant
*/
- .q = (real[3,3]) {
- { 0, 0, 0 },
- { 0, 0, 0 },
- {.0, 0, σ_m**2 },
- },
+ .q = model_error (t, σ_m**2),
/*
* Measurement error covariance
* Our sensors are independent, so
/*
* Measurement error covariance
* Our sensors are independent, so