discrete_ekf.c File Reference

#include "modules/relative_localization_filter/discrete_ekf.h"
#include "math/pprz_algebra_float.h"
#include <math.h>
#include <stdio.h>

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Functions
void	discrete_ekf_new (struct discrete_ekf *filter)
void	discrete_ekf_predict (struct discrete_ekf *filter)
void	discrete_ekf_update (struct discrete_ekf *filter, float *Z)
void	linear_filter (float *X, float dt, float *dX, float **A)
void	linear_measure (float *X, float *Z, float **H)

Detailed Description

Author

Mario Coppola Discrete Extended Kalman Filter for Relative Localization

Definition in file discrete_ekf.c.

Function Documentation

void discrete_ekf_new

(

struct discrete_ekf *

filter

)

Definition at line 32 of file discrete_ekf.c.

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

Referenced by range_msg_callback().

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void discrete_ekf_predict

(

struct discrete_ekf *

filter

)

Definition at line 74 of file discrete_ekf.c.

References discrete_ekf::dt, EKF_N, float_mat_mul(), float_mat_sum(), float_mat_transpose_square(), float_vect_sum(), discrete_ekf::H, linear_filter(), linear_measure(), MAKE_MATRIX_PTR, discrete_ekf::P, discrete_ekf::Q, discrete_ekf::tmp1, discrete_ekf::tmp2, discrete_ekf::tmp3, discrete_ekf::X, discrete_ekf::Xp, and discrete_ekf::Zp.

Referenced by range_msg_callback().

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void discrete_ekf_update	(	struct discrete_ekf *	filter,
		float *	Z
	)

Definition at line 113 of file discrete_ekf.c.

References EKF_M, EKF_N, float_mat_diff(), float_mat_invert(), float_mat_mul(), float_mat_sum(), float_mat_transpose(), float_mat_vect_mul(), float_vect_diff(), float_vect_sum(), discrete_ekf::H, discrete_ekf::Ht, MAKE_MATRIX_PTR, discrete_ekf::P, discrete_ekf::R, discrete_ekf::tmp1, discrete_ekf::tmp2, discrete_ekf::tmp3, discrete_ekf::X, discrete_ekf::Xp, and discrete_ekf::Zp.

Referenced by range_msg_callback().

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void linear_filter	(	float *	X,
		float	dt,
		float *	dX,
		float **	A
	)

Definition at line 148 of file discrete_ekf.c.

References EKF_N, float_mat_diagonal_scal(), and float_vect_zero().

Referenced by discrete_ekf_predict().

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void linear_measure	(	float *	X,
		float *	Z,
		float **	H
	)

Definition at line 164 of file discrete_ekf.c.

References EKF_M, and EKF_N.

Referenced by discrete_ekf_predict().

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