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added variances for sensors for sensor fusion
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This commit is contained in:
Marius Eggert 2022-10-19 11:01:53 +02:00
parent c50f8c716f
commit 5c2266e214
1 changed files with 9 additions and 1 deletions
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10
mission/controller/acs/AcsParameters.h
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@ -54,6 +54,9 @@ class AcsParameters /*: public HasParametersIF*/ {
{15.67482e-2, -6.958760e-2, 94.50124e-2}};
float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm02variance[3] = {1, 1, 1};
float mgm13variance[3] = {1, 1, 1};
float mgm4variance[3] = {1, 1, 1};
} mgmHandlingParameters;
@ -753,7 +756,12 @@ class AcsParameters /*: public HasParametersIF*/ {
double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
float gyrFusionWeight = 0.93;
// var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
// assumed to be equal for the same class of sensors
float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3 * sqrt(2), 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3 * sqrt(2), 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
} gyrHandlingParameters;
struct RwHandlingParameters {