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discrete_ekf_no_north.c File Reference
#include "modules/relative_localization_filter/discrete_ekf_no_north.h"
#include "math/pprz_algebra_float.h"
#include <math.h>
#include <stdio.h>
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Enumerations

enum  ekf_statein {
  x12, y12, z1, z2,
  u1, v1, u2, v2,
  gam
}
 
enum  ekf_input {
  u1dm, v1dm, u2dm, v2dm,
  r1m, r2m
}
 

Functions

void extractPhiGamma (float **inmat, float **phi, float **gamma, int m, int n_a, int n_b)
 
void float_mat_combine (float **a, float **b, float **o, int m, int n_a, int n_b)
 
void c2d (int m, int nA, int nB, float **Fx, float **G, float dt, float **phi, float **gamma)
 
void discrete_ekf_no_north_fsym (float *statein, float *input, float *output)
 
void discrete_ekf_no_north_hsym (float *statein, float *output)
 
void discrete_ekf_no_north_Fx (float *statein, float *input, float **output)
 
void discrete_ekf_no_north_G (float *statein, float **output)
 
void discrete_ekf_no_north_Hx (float *statein, float **output)
 
void discrete_ekf_no_north_new (struct discrete_ekf_no_north *filter)
 
void discrete_ekf_no_north_predict (struct discrete_ekf_no_north *filter, float *U)
 
void discrete_ekf_no_north_update (struct discrete_ekf_no_north *filter, float *Z)
 

Detailed Description

Author
Steven van der Helm, Mario Coppola Discrete Extended Kalman Filter for Relative Localization without requiring knowledge of North This implementation is from van der Helm et al. "On-board Range-based Relative Localization for Micro Aerial Vehicles in indoor Leader-Follower Flight." (2018). Available at https://arxiv.org/pdf/1805.07171.pdf

Definition in file discrete_ekf_no_north.c.

Enumeration Type Documentation

enum ekf_input
Enumerator
u1dm 
v1dm 
u2dm 
v2dm 
r1m 
r2m 

Definition at line 35 of file discrete_ekf_no_north.c.

Enumerator
x12 
y12 
z1 
z2 
u1 
v1 
u2 
v2 
gam 

Definition at line 34 of file discrete_ekf_no_north.c.

Function Documentation

void c2d ( int  m,
int  nA,
int  nB,
float **  Fx,
float **  G,
float  dt,
float **  phi,
float **  gamma 
)

Definition at line 74 of file discrete_ekf_no_north.c.

References EKF_M, EKF_N, extractPhiGamma(), float_mat_combine(), float_mat_exp(), float_mat_scale(), and MAKE_MATRIX_PTR.

Referenced by discrete_ekf_no_north_predict().

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void discrete_ekf_no_north_fsym ( float *  statein,
float *  input,
float *  output 
)

Definition at line 101 of file discrete_ekf_no_north.c.

References gam, r1m, r2m, u1, u1dm, u2, u2dm, v1, v1dm, v2, v2dm, x12, and y12.

Referenced by discrete_ekf_no_north_predict().

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void discrete_ekf_no_north_Fx ( float *  statein,
float *  input,
float **  output 
)

Definition at line 130 of file discrete_ekf_no_north.c.

References EKF_N, float_mat_zero(), gam, MAKE_MATRIX_PTR, r1m, r2m, u2, and v2.

Referenced by discrete_ekf_no_north_predict().

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void discrete_ekf_no_north_G ( float *  statein,
float **  output 
)

Definition at line 150 of file discrete_ekf_no_north.c.

References EKF_L, EKF_N, float_mat_zero(), MAKE_MATRIX_PTR, u1, u2, v1, v2, x12, and y12.

Referenced by discrete_ekf_no_north_predict().

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void discrete_ekf_no_north_hsym ( float *  statein,
float *  output 
)

Definition at line 119 of file discrete_ekf_no_north.c.

References u1, u2, v1, v2, x12, y12, z1, and z2.

Referenced by discrete_ekf_no_north_predict().

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void discrete_ekf_no_north_Hx ( float *  statein,
float **  output 
)

Definition at line 168 of file discrete_ekf_no_north.c.

References EKF_M, EKF_N, float_mat_zero(), MAKE_MATRIX_PTR, x12, y12, z1, and z2.

Referenced by discrete_ekf_no_north_predict().

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void discrete_ekf_no_north_new ( struct discrete_ekf_no_north filter)

Definition at line 192 of file discrete_ekf_no_north.c.

References discrete_ekf_no_north::dt, EKF_M, EKF_N, float_mat_diagonal_scal(), float_vect_zero(), MAKE_MATRIX_PTR, discrete_ekf_no_north::P, discrete_ekf_no_north::Q, discrete_ekf_no_north::R, and discrete_ekf_no_north::X.

Referenced by range_msg_callback().

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void extractPhiGamma ( float **  inmat,
float **  phi,
float **  gamma,
int  m,
int  n_a,
int  n_b 
)

Definition at line 37 of file discrete_ekf_no_north.c.

Referenced by c2d().

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void float_mat_combine ( float **  a,
float **  b,
float **  o,
int  m,
int  n_a,
int  n_b 
)

Definition at line 55 of file discrete_ekf_no_north.c.

Referenced by c2d().

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