Kalman
constructor(phiMatrixMethod: PhiMatrixMethod = PhiMatrixMethod.APPROXIMATED, processNoiseCovarianceMethod: ProcessNoiseCovarianceMethod = ProcessNoiseCovarianceMethod.BETTER, quaternionStepIntegratorType: QuaternionStepIntegratorType = QuaternionStepIntegratorType.RUNGE_KUTTA, gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD)
Parameters
phi
method to estimate phi matrix relating previous and current filter state.
process
method to estimate process noise covariance matrix.
quaternion
method to integrate quaternions on each measurement.