SabatiniExternalAccelerationCovarianceMatrixEstimator

Estimates external acceleration covariance matrix using Sabatini's method.

Constructors

constructor(accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION)

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

Body accelerometer measurement in local NED coordinates obtained from accelerometer sensor.

Threshold to determine whether external acceleration is detected or not.

Gets or sets gravity 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.

Scale factor to be applied to external acceleration covariance matrix when external acceleration is detected.

open override fun estimate()

Computes estimation of external acceleration covariance matrix.