discrete_ekf_no_north.h File Reference

#include "stdlib.h"
#include "string.h"
#include "math.h"

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Data Structures
struct	discrete_ekf_no_north

Macros
#define	EKF_N   9
#define	EKF_M   7
#define	EKF_L   6

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 *y)

Detailed Description

Author

Steven van der Helm, Mario Coppola Discrete Extended Kalman Filter for Relative Localization This implementation is was used in 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.h.

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Data Structure Documentation

struct discrete_ekf_no_north

Definition at line 40 of file discrete_ekf_no_north.h.

Data Fields
float	dt
float	Fx[EKF_N][EKF_N]
float	G[EKF_N][EKF_L]
float	Gamma[EKF_N][EKF_L]
float	H[EKF_M][EKF_N]
float	Ht[EKF_N][EKF_M]
float	P[EKF_N][EKF_N]
float	Phi[EKF_N][EKF_N]
float	Q[EKF_N][EKF_N]
float	R[EKF_M][EKF_M]
float	tmp1[EKF_N][EKF_N]
float	tmp2[EKF_N][EKF_N]
float	tmp3[EKF_N][EKF_N]
float	tmp4[EKF_N][EKF_N]
float	X[EKF_N]
float	Xp[EKF_N]
float	Zp[EKF_M]

Macro Definition Documentation

#define EKF_L   6

Definition at line 38 of file discrete_ekf_no_north.h.

Referenced by discrete_ekf_no_north_G(), discrete_ekf_no_north_predict(), and range_msg_callback().

#define EKF_M   7

Definition at line 37 of file discrete_ekf_no_north.h.

#define EKF_N   9

Definition at line 36 of file discrete_ekf_no_north.h.

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 discrete_ekf_no_north_predict	(	struct discrete_ekf_no_north *	filter,
		float *	U
	)

Definition at line 219 of file discrete_ekf_no_north.c.

References c2d(), discrete_ekf_no_north_fsym(), discrete_ekf_no_north_Fx(), discrete_ekf_no_north_G(), discrete_ekf_no_north_hsym(), discrete_ekf_no_north_Hx(), discrete_ekf_no_north::dt, EKF_L, EKF_N, float_mat_mul(), float_mat_sum(), float_mat_transpose(), float_mat_transpose_square(), float_vect_scale(), float_vect_sum(), discrete_ekf_no_north::Fx, discrete_ekf_no_north::G, discrete_ekf_no_north::Gamma, discrete_ekf_no_north::H, MAKE_MATRIX_PTR, discrete_ekf_no_north::P, discrete_ekf_no_north::Phi, discrete_ekf_no_north::Q, discrete_ekf_no_north::tmp1, discrete_ekf_no_north::tmp2, discrete_ekf_no_north::tmp3, discrete_ekf_no_north::tmp4, discrete_ekf_no_north::X, discrete_ekf_no_north::Xp, and discrete_ekf_no_north::Zp.

Referenced by range_msg_callback().

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void discrete_ekf_no_north_update	(	struct discrete_ekf_no_north *	filter,
		float *	y
	)

Definition at line 270 of file discrete_ekf_no_north.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_no_north::H, discrete_ekf_no_north::Ht, MAKE_MATRIX_PTR, discrete_ekf_no_north::P, discrete_ekf_no_north::R, discrete_ekf_no_north::tmp1, discrete_ekf_no_north::tmp2, discrete_ekf_no_north::tmp3, discrete_ekf_no_north::X, discrete_ekf_no_north::Xp, and discrete_ekf_no_north::Zp.

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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