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cleanup Kalman filter parameters, add/fix comments/units

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Change-Id: Iedcae7164af8f7ea0e048ea7c72d0f35d16d739f
This commit is contained in:
Mathias Agopian 2011-06-13 16:00:49 -07:00
parent 010e422301
commit eaf2d0bfe3
1 changed files with 42 additions and 13 deletions
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55
services/sensorservice/Fusion.cpp
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@ -24,10 +24,28 @@ namespace android {
// ----------------------------------------------------------------------- // -----------------------------------------------------------------------
static const float gyroSTDEV = 3.16e-4; // rad/s^3/2 /*
* gyroVAR gives the measured variance of the gyro's output per
* Hz (or variance at 1 Hz). This is an "intrinsic" parameter of the gyro,
* which is independent of the sampling frequency.
*
* The variance of gyro's output at a given sampling period can be
* calculated as:
* variance(T) = gyroVAR / T
*
* The variance of the INTEGRATED OUTPUT at a given sampling period can be
* calculated as:
* variance_integrate_output(T) = gyroVAR * T
*
*/
static const float gyroVAR = 1e-7; // (rad/s)^2 / Hz
static const float biasVAR = 1e-8; // (rad/s)^2 / s (guessed)
/*
* Standard deviations of accelerometer and magnetometer
*/
static const float accSTDEV = 0.05f; // m/s^2 (measured 0.08 / CDD 0.05) static const float accSTDEV = 0.05f; // m/s^2 (measured 0.08 / CDD 0.05)
static const float magSTDEV = 0.5f; // uT (measured 0.7 / CDD 0.5) static const float magSTDEV = 0.5f; // uT (measured 0.7 / CDD 0.5)
static const float biasSTDEV = 3.16e-5; // rad/s^1/2 (guessed)
static const float FREE_FALL_THRESHOLD = 0.981f; static const float FREE_FALL_THRESHOLD = 0.981f;
@ -129,23 +147,34 @@ void Fusion::initFusion(const vec4_t& q, float dT)
x0 = q; x0 = q;
x1 = 0; x1 = 0;
// process noise covariance matrix // process noise covariance matrix: G.Q.Gt, with
// G = | -1 0 | //
// | 0 1 | // G = | -1 0 | Q = | q00 q10 |
// | 0 1 | | q01 q11 |
//
// q00 = sv^2.dt + 1/3.su^2.dt^3
// q10 = q01 = 1/2.su^2.dt^2
// q11 = su^2.dt
//
const float v = gyroSTDEV; // variance of integrated output at 1/dT Hz
const float u = biasSTDEV; // (random drift)
const float q00 = v*v*dT + 0.33333f*(dT*dT*dT)*u*u; const float q00 = gyroVAR * dT;
const float q10 = 0.5f*(dT*dT) *u*u;
// variance of drift rate ramp
const float q11 = biasVAR * dT;
const float u = q11 / dT;
const float q10 = 0.5f*u*dT*dT;
const float q01 = q10; const float q01 = q10;
const float q11 = u*u*dT;
GQGt[0][0] = q00; GQGt[0][0] = q00; // rad^2
GQGt[1][0] = -q10; GQGt[1][0] = -q10;
GQGt[0][1] = -q01; GQGt[0][1] = -q01;
GQGt[1][1] = q11; GQGt[1][1] = q11; // (rad/s)^2
// initial covariance: Var{ x(t0) } // initial covariance: Var{ x(t0) }
// TODO: initialize P correctly
P = 0; P = 0;
} }