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Struct rc_kalman_t

• Defined in File kalman.h

Struct Documentation

struct rc_kalman_t

State Transition Matrices for linear filter only

rc_matrix_t F

undriven state-transition model

rc_matrix_t G

control input model

rc_matrix_t H

observation-model

Covariance Matrices

rc_matrix_t Q

Process noise covariance set by user.

rc_matrix_t R

Measurement noise covariance set by user.

rc_matrix_t P

Predicted state error covariance calculated by the update functions.

rc_matrix_t Pi

Initial P matrix set by user.

State estimates

rc_vector_t x_est

Estimated state x[k|k] = x[k|k-1],y[k])

rc_vector_t x_pre

Predicted state x[k|k-1] = f(x[k-1],u[k])

other

int initialized

set to 1 once initialized with rc_kalman_alloc

uint64_t step

counts times rc_kalman_measurement_update has been called