ukf.cpp File Reference

#include <iostream>
#include <algorithm>
#include <Eigen/LU>
#include <Eigen/SVD>
#include <Eigen/Cholesky>
#include <base/Pose.hpp>
#include "ukf.hpp"

Namespaces
	filter

Macros
#define	Re   6378137
#define	Rp   6378137
#define	ECC   0.0818191908426
#define	GRAVITY   9.79766542
#define	GWGS0   9.7803267714
#define	GWGS1   0.00193185138639
#define	EARTHW   7.292115e-05

Detailed Description

This class has the primitive methods for an Unscented Kalman Filter implementation for an Attitude and Heading Reference System - AHRS. The filter is Quaternion based using accelerometers, gyroscopes and magnetometers (only when set to true). The filter performs the prediction step based on the gyroscopes and therefore quaternion integration. The measurement is formed in a way tht multiple (N) vector measurements can be concatenated.

This Unscented Kalman filter is based on the paper: John L. Crassidis and F. Landis Markley "Unscented Filtering for Spacecraft Attitude Estimation" A copy if the manuscript can be found in the /doc folder of the library.

Author

Javier Hidalgo Carrio | DFKI RIC Bremen | javie.nosp@m.r.hi.nosp@m.dalgo.nosp@m._car.nosp@m.rio@d.nosp@m.fki..nosp@m.de

Date

March 2012.

Version

1.0.

Macro Definition Documentation

#define EARTHW   7.292115e-05

Earth angular velocity in rad/s

#define ECC   0.0818191908426

First eccentricity

#define GRAVITY   9.79766542

Mean value of gravity value in m/s^2

#define GWGS0   9.7803267714

Gravity value at the equator in m/s^2

#define GWGS1   0.00193185138639

Gravity formula constant

#define Re   6378137

< IO C++ Standard library < Algorithm C++ Standard library < Lineal algebra of Eigen < Singular Value Decomposition (SVD) of Eigen < Cholesky module WGS-84 ellipsoid constants (Nominal Gravity Model and Earth angular velocity) Equatorial radius in meters

#define Rp   6378137

Polar radius in meters