-
Notifications
You must be signed in to change notification settings - Fork 0
/
alt_ukf.h
36 lines (26 loc) · 836 Bytes
/
alt_ukf.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
#ifndef _alt_ukf_h
#define _alt_ukf_h
#include "srcdkf.h"
#define ALT_S 3 // states
#define ALT_M 1 // measurements
#define ALT_V 2 // process noise
#define ALT_N 1 // measurement noise
#define ALT_STATE_POS 0
#define ALT_STATE_VEL 1
#define ALT_STATE_BIAS 2
#define ALT_NOISE_BIAS 0
#define ALT_NOISE_VEL 1
#define ALT_POS altUkfData.x[ALT_STATE_POS]
#define ALT_VEL altUkfData.x[ALT_STATE_VEL]
#define ALT_BIAS altUkfData.x[ALT_STATE_BIAS]
#define ALT_PRES_NOISE 0.02f
#define ALT_BIAS_NOISE 5e-4f//5e-5f
#define ALT_VEL_NOISE 5e-4f
typedef struct {
srcdkf_t *kf;
float *x; // states
} altUkfStruct_t;
extern altUkfStruct_t altUkfData;
extern void altUkfInit(void);
extern void altUkfProcess(float measuredPres);
#endif