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ISSDK
1.8
IoT Sensing Software Development Kit
|
|
ISSDK
1.8
IoT Sensing Software Development Kit
|
SV_6DOF_GY_KALMAN is the 6DOF Kalman filter accelerometer and gyroscope state vector structure. More...
#include <sensor_fusion.h>
Data Fields | |
| float | fPhiPl |
| roll (deg) More... | |
| float | fThePl |
| pitch (deg) More... | |
| float | fPsiPl |
| yaw (deg) More... | |
| float | fRhoPl |
| compass (deg) More... | |
| float | fChiPl |
| tilt from vertical (deg) More... | |
| float | fRPl [3][3] |
| a posteriori orientation matrix More... | |
| Quaternion | fqPl |
| a posteriori orientation quaternion More... | |
| float | fRVecPl [3] |
| rotation vector More... | |
| float | fOmega [3] |
| average angular velocity (deg/s) More... | |
| int32_t | systick |
| systick timer; More... | |
| float | fQw6x6 [6][6] |
| covariance matrix Qw More... | |
| float | fK6x3 [6][3] |
| kalman filter gain matrix K More... | |
| float | fQwCT6x3 [6][3] |
| Qw.C^T matrix. More... | |
| float | fQv |
| measurement noise covariance matrix leading diagonal More... | |
| float | fZErr [3] |
| measurement error vector More... | |
| float | fqgErrPl [3] |
| gravity vector tilt orientation quaternion error (dimensionless) More... | |
| float | fbPl [3] |
| gyro offset (deg/s) More... | |
| float | fbErrPl [3] |
| gyro offset error (deg/s) More... | |
| float | fAccGl [3] |
| linear acceleration (g) in global frame More... | |
| float | fdeltat |
| sensor fusion interval (s) More... | |
| float | fAlphaOver2 |
| PI / 180 * fdeltat / 2. More... | |
| float | fAlphaSqOver4 |
| (PI / 180 * fdeltat)^2 / 4 More... | |
| float | fAlphaSqQvYQwbOver12 |
| (PI / 180 * fdeltat)^2 * (QvY + Qwb) / 12 More... | |
| float | fAlphaQwbOver6 |
| (PI / 180 * fdeltat) * Qwb / 6 More... | |
| float | fQwbOver3 |
| Qwb / 3. More... | |
| float | fMaxGyroOffsetChange |
| maximum permissible gyro offset change per iteration (deg/s) More... | |
| int8_t | resetflag |
| flag to request re-initialization on next pass More... | |
SV_6DOF_GY_KALMAN is the 6DOF Kalman filter accelerometer and gyroscope state vector structure.
Definition at line 358 of file sensor_fusion.h.
| float fAccGl[3] |
linear acceleration (g) in global frame
Definition at line 380 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fAlphaOver2 |
PI / 180 * fdeltat / 2.
Definition at line 382 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fAlphaQwbOver6 |
(PI / 180 * fdeltat) * Qwb / 6
Definition at line 385 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN().
| float fAlphaSqOver4 |
(PI / 180 * fdeltat)^2 / 4
Definition at line 383 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fAlphaSqQvYQwbOver12 |
(PI / 180 * fdeltat)^2 * (QvY + Qwb) / 12
Definition at line 384 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fbErrPl[3] |
gyro offset error (deg/s)
Definition at line 379 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fbPl[3] |
gyro offset (deg/s)
Definition at line 378 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fChiPl |
tilt from vertical (deg)
Definition at line 365 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fdeltat |
sensor fusion interval (s)
Definition at line 381 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fK6x3[6][3] |
kalman filter gain matrix K
Definition at line 373 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fMaxGyroOffsetChange |
maximum permissible gyro offset change per iteration (deg/s)
Definition at line 387 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fOmega[3] |
average angular velocity (deg/s)
Definition at line 369 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fPhiPl |
| float fPsiPl |
| float fqgErrPl[3] |
gravity vector tilt orientation quaternion error (dimensionless)
Definition at line 377 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| Quaternion fqPl |
a posteriori orientation quaternion
Definition at line 367 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fQv |
measurement noise covariance matrix leading diagonal
Definition at line 375 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fQw6x6[6][6] |
covariance matrix Qw
Definition at line 372 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fQwbOver3 |
Qwb / 3.
Definition at line 386 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fQwCT6x3[6][3] |
| float fRhoPl |
| float fRPl[3][3] |
a posteriori orientation matrix
Definition at line 366 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| float fRVecPl[3] |
rotation vector
Definition at line 368 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| float fThePl |
| float fZErr[3] |
measurement error vector
Definition at line 376 of file sensor_fusion.h.
Referenced by fRun_6DOF_GY_KALMAN().
| int8_t resetflag |
flag to request re-initialization on next pass
Definition at line 388 of file sensor_fusion.h.
Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().
| int32_t systick |