| Commit message (Collapse) | Author | Age | |
|---|---|---|---|
| * | altos: Add .gitignore to kalman test dir | Keith Packard | 2013-05-07 |
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| * | altos: Build test framework for kalman filter | Keith Packard | 2013-05-07 |
| | | | | | | | | This has some known flight data and generates kalman filter information for them to test Signed-off-by: Keith Packard <keithp@keithp.com> | ||
| * | altos: Add computation of MicroPeak Kalman correction coefficients | Keith Packard | 2013-01-16 |
| | | | | | Signed-off-by: Keith Packard <keithp@keithp.com> | ||
| * | altos: Correct model error covariance matrix | Keith Packard | 2013-01-16 |
| | | | | | | | | | | | | | | | | | | | | | | | | | | | | Finally found a couple of decent references on how to set the model (process) error covariance matrix. The current process matrix turns out to be correct for a continuous kalman filter (which isn't realizable, of course). For a discrete filter, the error in modeled acceleration (we model it as a constant) needs to be propogated to the speed and position portions of the matrix. The correct matrix is seen in this paper: On Reduced-Order Kalman Filters For GPS Position Filtering J. Shima 6/2/2001 This references an older paper which is supposed to describe the derivation of the matrix: Singer, R.A., “Estimating Optimal Tracking Filter Performance for Manned Maneuvering Targets,” IEEE Transactions of Aerospace and Electronic Systems, AES-5, July 1970, pp. 473-483. This change has a minor effect on the computed correction coefficients; it should respond more reasonably to acceleration changes now. Signed-off-by: Keith Packard <keithp@keithp.com> | ||
| * | altos/kalman: Kalman terms can be > 1, use 32-bit fixed point | Keith Packard | 2011-03-22 |
| | | | | | | | | | Because speed and acceleration are scaled by 16, it's fairly common for the kalman terms to end up larger than 1. Instead of trying to fuss with 16-bit values and shifts, just use 32-bit values. Signed-off-by: Keith Packard <keithp@keithp.com> | ||
| * | altos: Add nickle kalman implementation. | Keith Packard | 2011-03-21 |
| This generates the constants needed to implement Kalman filtering in the flight firmware. Signed-off-by: Keith Packard <keithp@keithp.com> | |||
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index : mjb/altos | |
| AltOS - the operating system for Altus Metrum products | Bdale Garbee |
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