diff options
| -rwxr-xr-x | src/kalman/kalman.5c | 30 |
1 files changed, 10 insertions, 20 deletions
diff --git a/src/kalman/kalman.5c b/src/kalman/kalman.5c index cfb7abea..46fa8e1f 100755 --- a/src/kalman/kalman.5c +++ b/src/kalman/kalman.5c @@ -55,6 +55,12 @@ real default_σ_m = 5; real default_σ_h = 20; real default_σ_a = 2; +real[3,3] model_error(t, Φ) = multiply_mat_val ((real[3,3]) { + { t**5 / 20, t**4 / 8, t**3 / 6 }, + { t**4 / 8, t**3 / 3, t**2 / 2 }, + { t**3 / 6, t**2 / 2, t } + }, Φ); + parameters_t param_both(real t, real σ_m, real σ_h, real σ_a) { if (σ_m == 0) σ_m = default_σ_m; @@ -87,11 +93,7 @@ parameters_t param_both(real t, real σ_m, real σ_h, real σ_a) { * Model error covariance. The only inaccuracy in the * model is the assumption that acceleration is constant */ - .q = (real[3,3]) { - { 0, 0, 0 }, - { 0, 0, 0 }, - {.0, 0, σ_m**2 }, - }, + .q = model_error (t, σ_m**2), /* * Measurement error covariance * Our sensors are independent, so @@ -140,11 +142,7 @@ parameters_t param_baro(real t, real σ_m, real σ_h) { * Model error covariance. The only inaccuracy in the * model is the assumption that acceleration is constant */ - .q = (real[3,3]) { - { 0, 0, 0 }, - { 0, 0, 0 }, - {.0, 0, σ_m**2 }, - }, + .q = model_error (t, σ_m**2), /* * Measurement error covariance * Our sensors are independent, so @@ -191,11 +189,7 @@ parameters_t param_accel(real t, real σ_m, real σ_a) { * Model error covariance. The only inaccuracy in the * model is the assumption that acceleration is constant */ - .q = (real[3,3]) { - { 0, 0, 0 }, - { 0, 0, 0 }, - {.0, 0, σ_m**2 }, - }, + .q = model_error (t, σ_m**2), /* * Measurement error covariance * Our sensors are independent, so @@ -236,11 +230,7 @@ parameters_t param_vel(real t) { * Model error covariance. The only inaccuracy in the * model is the assumption that acceleration is constant */ - .q = (real[3,3]) { - { 0, 0, 0 }, - { 0, 0, 0 }, - {.0, 0, σ_m**2 }, - }, + .q = model_error (t, σ_m**2), /* * Measurement error covariance * Our sensors are independent, so |