SuhExternalAccelerationCovarianceMatrixEstimator

class SuhExternalAccelerationCovarianceMatrixEstimator(val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION) : ExternalAccelerationCovarianceMatrixEstimator

Estimates external acceleration covariance matrix using Suh's method.

Constructors

constructor(accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION)

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

Matrix containing last SUH_M1 accelerometer residuals.

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.

open override fun estimate()

Computes estimation of external acceleration covariance matrix.

fun reset()

Resets this estimator.