ExternalAccelerationCovarianceMatrixEstimator

abstract class ExternalAccelerationCovarianceMatrixEstimator(val accelerometerNoiseStandardDeviation: Double)

Estimates external acceleration covariance matrix.

Constructors

constructor(accelerometerNoiseStandardDeviation: Double)

standard deviation for accelerometer noise expressed in m/s^2.

var ha: Matrix

Accelerometer measurement matrix

Transpose of ha.

Kalman's filter post-predicted state covariance matrix.

Contains partial accelerometer residual covariance matrix.

val qab: Matrix

Estimated external acceleration covariance matrix.

abstract fun estimate()

Computes estimation of external acceleration covariance matrix.