SV_6DOF_GY_KALMAN is the 6DOF Kalman filter accelerometer and gyroscope state vector structure. More...
#include <sensor_fusion.h>
Public Attributes | |
| float | fPhiPl |
| roll (deg) | |
| float | fThePl |
| pitch (deg) | |
| float | fPsiPl |
| yaw (deg) | |
| float | fRhoPl |
| compass (deg) | |
| float | fChiPl |
| tilt from vertical (deg) | |
| float | fRPl [3][3] |
| a posteriori orientation matrix | |
| Quaternion | fqPl |
| a posteriori orientation quaternion | |
| float | fRVecPl [3] |
| rotation vector | |
| float | fOmega [3] |
| average angular velocity (deg/s) | |
| int32_t | systick |
| systick timer; | |
| float | fQw6x6 [6][6] |
| covariance matrix Qw | |
| float | fK6x3 [6][3] |
| kalman filter gain matrix K | |
| float | fQwCT6x3 [6][3] |
| Qw.C^T matrix. | |
| float | fQv |
| measurement noise covariance matrix leading diagonal | |
| float | fZErr [3] |
| measurement error vector | |
| float | fqgErrPl [3] |
| gravity vector tilt orientation quaternion error (dimensionless) | |
| float | fbPl [3] |
| gyro offset (deg/s) | |
| float | fbErrPl [3] |
| gyro offset error (deg/s) | |
| float | fAccGl [3] |
| linear acceleration (g) in global frame | |
| float | fdeltat |
| sensor fusion interval (s) | |
| float | fAlphaOver2 |
| PI / 180 * fdeltat / 2. | |
| float | fAlphaSqOver4 |
| (PI / 180 * fdeltat)^2 / 4 | |
| float | fAlphaSqQvYQwbOver12 |
| (PI / 180 * fdeltat)^2 * (QvY + Qwb) / 12 | |
| float | fAlphaQwbOver6 |
| (PI / 180 * fdeltat) * Qwb / 6 | |
| float | fQwbOver3 |
| Qwb / 3. | |
| float | fMaxGyroOffsetChange |
| maximum permissible gyro offset change per iteration (deg/s) | |
| int8_t | resetflag |
| flag to request re-initialization on next pass | |
Detailed Description
SV_6DOF_GY_KALMAN is the 6DOF Kalman filter accelerometer and gyroscope state vector structure.
Definition at line 363 of file sensor_fusion.h.
Member Data Documentation
◆ fAccGl
| float SV_6DOF_GY_KALMAN::fAccGl[3] |
linear acceleration (g) in global frame
Definition at line 385 of file sensor_fusion.h.
◆ fAlphaOver2
| float SV_6DOF_GY_KALMAN::fAlphaOver2 |
PI / 180 * fdeltat / 2.
Definition at line 387 of file sensor_fusion.h.
◆ fAlphaQwbOver6
| float SV_6DOF_GY_KALMAN::fAlphaQwbOver6 |
(PI / 180 * fdeltat) * Qwb / 6
Definition at line 390 of file sensor_fusion.h.
◆ fAlphaSqOver4
| float SV_6DOF_GY_KALMAN::fAlphaSqOver4 |
(PI / 180 * fdeltat)^2 / 4
Definition at line 388 of file sensor_fusion.h.
◆ fAlphaSqQvYQwbOver12
| float SV_6DOF_GY_KALMAN::fAlphaSqQvYQwbOver12 |
(PI / 180 * fdeltat)^2 * (QvY + Qwb) / 12
Definition at line 389 of file sensor_fusion.h.
◆ fbErrPl
| float SV_6DOF_GY_KALMAN::fbErrPl[3] |
gyro offset error (deg/s)
Definition at line 384 of file sensor_fusion.h.
◆ fbPl
| float SV_6DOF_GY_KALMAN::fbPl[3] |
gyro offset (deg/s)
Definition at line 383 of file sensor_fusion.h.
◆ fChiPl
| float SV_6DOF_GY_KALMAN::fChiPl |
tilt from vertical (deg)
Definition at line 370 of file sensor_fusion.h.
◆ fdeltat
| float SV_6DOF_GY_KALMAN::fdeltat |
sensor fusion interval (s)
Definition at line 386 of file sensor_fusion.h.
◆ fK6x3
| float SV_6DOF_GY_KALMAN::fK6x3[6][3] |
kalman filter gain matrix K
Definition at line 378 of file sensor_fusion.h.
◆ fMaxGyroOffsetChange
| float SV_6DOF_GY_KALMAN::fMaxGyroOffsetChange |
maximum permissible gyro offset change per iteration (deg/s)
Definition at line 392 of file sensor_fusion.h.
◆ fOmega
| float SV_6DOF_GY_KALMAN::fOmega[3] |
average angular velocity (deg/s)
Definition at line 374 of file sensor_fusion.h.
◆ fPhiPl
| float SV_6DOF_GY_KALMAN::fPhiPl |
roll (deg)
Definition at line 366 of file sensor_fusion.h.
◆ fPsiPl
| float SV_6DOF_GY_KALMAN::fPsiPl |
yaw (deg)
Definition at line 368 of file sensor_fusion.h.
◆ fqgErrPl
| float SV_6DOF_GY_KALMAN::fqgErrPl[3] |
gravity vector tilt orientation quaternion error (dimensionless)
Definition at line 382 of file sensor_fusion.h.
◆ fqPl
| Quaternion SV_6DOF_GY_KALMAN::fqPl |
a posteriori orientation quaternion
Definition at line 372 of file sensor_fusion.h.
◆ fQv
| float SV_6DOF_GY_KALMAN::fQv |
measurement noise covariance matrix leading diagonal
Definition at line 380 of file sensor_fusion.h.
◆ fQw6x6
| float SV_6DOF_GY_KALMAN::fQw6x6[6][6] |
covariance matrix Qw
Definition at line 377 of file sensor_fusion.h.
◆ fQwbOver3
| float SV_6DOF_GY_KALMAN::fQwbOver3 |
Qwb / 3.
Definition at line 391 of file sensor_fusion.h.
◆ fQwCT6x3
| float SV_6DOF_GY_KALMAN::fQwCT6x3[6][3] |
Qw.C^T matrix.
Definition at line 379 of file sensor_fusion.h.
◆ fRhoPl
| float SV_6DOF_GY_KALMAN::fRhoPl |
compass (deg)
Definition at line 369 of file sensor_fusion.h.
◆ fRPl
| float SV_6DOF_GY_KALMAN::fRPl[3][3] |
a posteriori orientation matrix
Definition at line 371 of file sensor_fusion.h.
◆ fRVecPl
| float SV_6DOF_GY_KALMAN::fRVecPl[3] |
rotation vector
Definition at line 373 of file sensor_fusion.h.
◆ fThePl
| float SV_6DOF_GY_KALMAN::fThePl |
pitch (deg)
Definition at line 367 of file sensor_fusion.h.
◆ fZErr
| float SV_6DOF_GY_KALMAN::fZErr[3] |
measurement error vector
Definition at line 381 of file sensor_fusion.h.
◆ resetflag
| int8_t SV_6DOF_GY_KALMAN::resetflag |
flag to request re-initialization on next pass
Definition at line 393 of file sensor_fusion.h.
◆ systick
| int32_t SV_6DOF_GY_KALMAN::systick |
systick timer;
Definition at line 375 of file sensor_fusion.h.
The documentation for this struct was generated from the following file:
- src/sensor_fusion/sensor_fusion.h
