31 #ifndef _AVRIO_KALMAN_H_ 32 #define _AVRIO_KALMAN_H_ 34 #include <avrio/defs.h> 50 #define KALMAN_Q_ANGLE 0.001 51 #define KALMAN_Q_BIAS 0.003 52 #define KALMAN_R_MEASURE 0.03 98 # if defined(__DOXYGEN__) double fQAngle
Process noise variance for the accelerometer.
double fK[2]
Kalman gain - This is a 2x1 matrix.
double fRate
Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update ...
double fAngle
The angle calculated by the Kalman filter - part of the 2x1 state matrix.
double fRMeasure
Measurement noise variance - this is actually the variance of the measurement noise.
double fBias
The gyro bias calculated by the Kalman filter - part of the 2x1 state matrix.
void vKalmanInit(xKalmanFilter *xFilter)
Initialise le filtre.
double fQBias
Process noise variance for the gyro bias.
double fS
Estimate error - 1x1 matrix.
double fP[2][2]
Error covariance matrix - This is a 2x2 matrix.
Données du filtre de Kalman.
double fY
Angle difference - 1x1 matrix.
void vKalmanProcess(xKalmanFilter *xFilter, double fNewAngle, double fNewRate, uint16_t usDt)
Processus de filtrage.