quater_ikf
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filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize > Class Template Reference

Class for Adaptive measurement matrix for the attitude correction in 3D. More...

#include <AdaptiveAttitudeCov.hpp>

Public Member Functions

 AdaptiveAttitudeCov (const unsigned int M1, const unsigned int M2, const double GAMMA)
 
 ~AdaptiveAttitudeCov ()
 
Eigen::Matrix< _Scalar, _MeasurementSize, _MeasurementSize > matrix (const Eigen::Matrix< _Scalar, _DoFState, 1 > xk, const Eigen::Matrix< _Scalar, _DoFState, _DoFState > &Pk, const Eigen::Matrix< _Scalar, _MeasurementSize, 1 > &z, const Eigen::Matrix< _Scalar, _MeasurementSize, _DoFState > &H, const Eigen::Matrix< _Scalar, _MeasurementSize, _MeasurementSize > &R)
 

Protected Types

typedef Eigen::Matrix< _Scalar, _MeasurementSize, _MeasurementSize > MeasurementMatrix
 

Protected Attributes

unsigned int r1count
 
unsigned int m1
 
unsigned int m2
 
double gamma
 
unsigned int r2count
 
std::vector< MeasurementMatrix, Eigen::aligned_allocator< MeasurementMatrix > > RHist
 

Detailed Description

template<typename _Scalar, size_t _DoFState, size_t _MeasurementSize>
class filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >

Class for Adaptive measurement matrix for the attitude correction in 3D.

Member Typedef Documentation

template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
typedef Eigen::Matrix<_Scalar, _MeasurementSize, _MeasurementSize> filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::MeasurementMatrix
protected

Constructor & Destructor Documentation

template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::AdaptiveAttitudeCov ( const unsigned int  M1,
const unsigned int  M2,
const double  GAMMA 
)
inline
template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::~AdaptiveAttitudeCov ( )
inline

Member Function Documentation

template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
Eigen::Matrix<_Scalar, _MeasurementSize, _MeasurementSize> filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::matrix ( const Eigen::Matrix< _Scalar, _DoFState, 1 >  xk,
const Eigen::Matrix< _Scalar, _DoFState, _DoFState > &  Pk,
const Eigen::Matrix< _Scalar, _MeasurementSize, 1 > &  z,
const Eigen::Matrix< _Scalar, _MeasurementSize, _DoFState > &  H,
const Eigen::Matrix< _Scalar, _MeasurementSize, _MeasurementSize > &  R 
)
inline

Measurement noise covariance matrix for the adaptive algorithm

Measurement noise matrix from accelerometers matrix Ra

Uk measurement noise covariance matrix for the adaptive algorithm

External acceleration covariance matrix

Unitary matrix U for the SVD decomposition

Lambda vector for the adaptive algorithm

mu vector for the adaptive algorithm

Unitary matrix V for the SVD decomposition

Estimation of R

r1count + 1 modulus the number of history M1

Starting the Uk is R

Single Value Decomposition

eigenvalues

eigenvectors

Auxiliary vector variable

Auxiliary vector variable

R is the static and Qstar is the external acceleration covariance

Member Data Documentation

template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
double filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::gamma
protected

Parameter for adaptive algorithm (to prevent falser entering in no-external acc mode)

template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
unsigned int filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::m1
protected

Variable used in the adaptive algorithm, to compute the Uk matrix for SVD

template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
unsigned int filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::m2
protected

Parameter for adaptive algorithm (to estimate Uk which is not directly observale)

template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
unsigned int filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::r1count
protected
template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
unsigned int filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::r2count
protected

Parameter for adaptive algorithm (only entering when Qstart is greater than RHR'+Ra)

template<typename _Scalar , size_t _DoFState, size_t _MeasurementSize>
std::vector< MeasurementMatrix, Eigen::aligned_allocator < MeasurementMatrix > > filter::AdaptiveAttitudeCov< _Scalar, _DoFState, _MeasurementSize >::RHist
protected

Parameter for adaptive algorithm History of M1 measurement noise covariance matrix (for the adaptive algorithm)

The documentation for this class was generated from the following file:
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