SV_9DOF_GBY_KALMAN is the 9DOF Kalman filter accelerometer, magnetometer 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 | fQw9x9 [9][9] |
| covariance matrix Qw | |
| float | fK9x6 [9][6] |
| kalman filter gain matrix K | |
| float | fQwCT9x6 [9][6] |
| Qw.C^T matrix. | |
| float | fZErr [6] |
| measurement error vector | |
| float | fQv6x1 [6] |
| measurement noise covariance matrix leading diagonal | |
| float | fDeltaPl |
| a posteriori inclination angle from Kalman filter (deg) | |
| float | fsinDeltaPl |
| sin(fDeltaPl) | |
| float | fcosDeltaPl |
| cos(fDeltaPl) | |
| float | fqgErrPl [3] |
| gravity vector tilt orientation quaternion error (dimensionless) | |
| float | fqmErrPl [3] |
| geomagnetic 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 | fVelGl [3] |
| velocity (m/s) in global frame | |
| float | fDisGl [3] |
| displacement (m) in global frame | |
| float | fdeltat |
| sensor fusion interval (s) | |
| float | fgdeltat |
| g (m/s2) * fdeltat | |
| 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 | iFirstAccelMagLock |
| denotes that 9DOF orientation has locked to 6DOF eCompass | |
| int8_t | resetflag |
| flag to request re-initialization on next pass | |
Detailed Description
SV_9DOF_GBY_KALMAN is the 9DOF Kalman filter accelerometer, magnetometer and gyroscope state vector structure.
Definition at line 397 of file sensor_fusion.h.
Member Data Documentation
◆ fAccGl
| float SV_9DOF_GBY_KALMAN::fAccGl[3] |
linear acceleration (g) in global frame
Definition at line 423 of file sensor_fusion.h.
◆ fAlphaOver2
| float SV_9DOF_GBY_KALMAN::fAlphaOver2 |
PI / 180 * fdeltat / 2.
Definition at line 428 of file sensor_fusion.h.
◆ fAlphaQwbOver6
| float SV_9DOF_GBY_KALMAN::fAlphaQwbOver6 |
(PI / 180 * fdeltat) * Qwb / 6
Definition at line 431 of file sensor_fusion.h.
◆ fAlphaSqOver4
| float SV_9DOF_GBY_KALMAN::fAlphaSqOver4 |
(PI / 180 * fdeltat)^2 / 4
Definition at line 429 of file sensor_fusion.h.
◆ fAlphaSqQvYQwbOver12
| float SV_9DOF_GBY_KALMAN::fAlphaSqQvYQwbOver12 |
(PI / 180 * fdeltat)^2 * (QvY + Qwb) / 12
Definition at line 430 of file sensor_fusion.h.
◆ fbErrPl
| float SV_9DOF_GBY_KALMAN::fbErrPl[3] |
gyro offset error (deg/s)
Definition at line 422 of file sensor_fusion.h.
◆ fbPl
| float SV_9DOF_GBY_KALMAN::fbPl[3] |
gyro offset (deg/s)
Definition at line 421 of file sensor_fusion.h.
◆ fChiPl
| float SV_9DOF_GBY_KALMAN::fChiPl |
tilt from vertical (deg)
Definition at line 404 of file sensor_fusion.h.
◆ fcosDeltaPl
| float SV_9DOF_GBY_KALMAN::fcosDeltaPl |
cos(fDeltaPl)
Definition at line 418 of file sensor_fusion.h.
◆ fDeltaPl
| float SV_9DOF_GBY_KALMAN::fDeltaPl |
a posteriori inclination angle from Kalman filter (deg)
Definition at line 416 of file sensor_fusion.h.
◆ fdeltat
| float SV_9DOF_GBY_KALMAN::fdeltat |
sensor fusion interval (s)
Definition at line 426 of file sensor_fusion.h.
◆ fDisGl
| float SV_9DOF_GBY_KALMAN::fDisGl[3] |
displacement (m) in global frame
Definition at line 425 of file sensor_fusion.h.
◆ fgdeltat
| float SV_9DOF_GBY_KALMAN::fgdeltat |
g (m/s2) * fdeltat
Definition at line 427 of file sensor_fusion.h.
◆ fK9x6
| float SV_9DOF_GBY_KALMAN::fK9x6[9][6] |
kalman filter gain matrix K
Definition at line 412 of file sensor_fusion.h.
◆ fMaxGyroOffsetChange
| float SV_9DOF_GBY_KALMAN::fMaxGyroOffsetChange |
maximum permissible gyro offset change per iteration (deg/s)
Definition at line 433 of file sensor_fusion.h.
◆ fOmega
| float SV_9DOF_GBY_KALMAN::fOmega[3] |
average angular velocity (deg/s)
Definition at line 408 of file sensor_fusion.h.
◆ fPhiPl
| float SV_9DOF_GBY_KALMAN::fPhiPl |
roll (deg)
Definition at line 400 of file sensor_fusion.h.
◆ fPsiPl
| float SV_9DOF_GBY_KALMAN::fPsiPl |
yaw (deg)
Definition at line 402 of file sensor_fusion.h.
◆ fqgErrPl
| float SV_9DOF_GBY_KALMAN::fqgErrPl[3] |
gravity vector tilt orientation quaternion error (dimensionless)
Definition at line 419 of file sensor_fusion.h.
◆ fqmErrPl
| float SV_9DOF_GBY_KALMAN::fqmErrPl[3] |
geomagnetic vector tilt orientation quaternion error (dimensionless)
Definition at line 420 of file sensor_fusion.h.
◆ fqPl
| Quaternion SV_9DOF_GBY_KALMAN::fqPl |
a posteriori orientation quaternion
Definition at line 406 of file sensor_fusion.h.
◆ fQv6x1
| float SV_9DOF_GBY_KALMAN::fQv6x1[6] |
measurement noise covariance matrix leading diagonal
Definition at line 415 of file sensor_fusion.h.
◆ fQw9x9
| float SV_9DOF_GBY_KALMAN::fQw9x9[9][9] |
covariance matrix Qw
Definition at line 411 of file sensor_fusion.h.
◆ fQwbOver3
| float SV_9DOF_GBY_KALMAN::fQwbOver3 |
Qwb / 3.
Definition at line 432 of file sensor_fusion.h.
◆ fQwCT9x6
| float SV_9DOF_GBY_KALMAN::fQwCT9x6[9][6] |
Qw.C^T matrix.
Definition at line 413 of file sensor_fusion.h.
◆ fRhoPl
| float SV_9DOF_GBY_KALMAN::fRhoPl |
compass (deg)
Definition at line 403 of file sensor_fusion.h.
◆ fRPl
| float SV_9DOF_GBY_KALMAN::fRPl[3][3] |
a posteriori orientation matrix
Definition at line 405 of file sensor_fusion.h.
◆ fRVecPl
| float SV_9DOF_GBY_KALMAN::fRVecPl[3] |
rotation vector
Definition at line 407 of file sensor_fusion.h.
◆ fsinDeltaPl
| float SV_9DOF_GBY_KALMAN::fsinDeltaPl |
sin(fDeltaPl)
Definition at line 417 of file sensor_fusion.h.
◆ fThePl
| float SV_9DOF_GBY_KALMAN::fThePl |
pitch (deg)
Definition at line 401 of file sensor_fusion.h.
◆ fVelGl
| float SV_9DOF_GBY_KALMAN::fVelGl[3] |
velocity (m/s) in global frame
Definition at line 424 of file sensor_fusion.h.
◆ fZErr
| float SV_9DOF_GBY_KALMAN::fZErr[6] |
measurement error vector
Definition at line 414 of file sensor_fusion.h.
◆ iFirstAccelMagLock
| int8_t SV_9DOF_GBY_KALMAN::iFirstAccelMagLock |
denotes that 9DOF orientation has locked to 6DOF eCompass
Definition at line 434 of file sensor_fusion.h.
◆ resetflag
| int8_t SV_9DOF_GBY_KALMAN::resetflag |
flag to request re-initialization on next pass
Definition at line 435 of file sensor_fusion.h.
◆ systick
| int32_t SV_9DOF_GBY_KALMAN::systick |
systick timer;
Definition at line 409 of file sensor_fusion.h.
The documentation for this struct was generated from the following file:
- src/sensor_fusion/sensor_fusion.h
