Egomotion quality: integrity and error bounds.
Egomotion provides (conservative) error bounds on its signals by leveraging an extensive monitoring framework and quantifying the impact of any input or internal error on its output. Not all egomotion modalities support this.
Lower and upper error bounds are given relative to the estimated quantity and only valid if status indicates ASIL level. Absolute angular quantities are subject to [-PI, PI] limits and error bounds do not wrap around.
For example, linear velocity upper and lower bounds of +1 m/s, -2 m/s respectively indicate that the true velocity is within this range from the current estimate, with corresponding integrity. If the velocity estimated by egomotion is 10 m/s, the bounds translate to a guarantee that the true velocity is between 8 and 11 m/s. In other words, the velocity is at most under estimated by 10/11=~9%, or over estimated by 10/8=25%.
Definition at line 430 of file EgomotionTypes.h.
Data Fields | |
| float32_t | upper |
| Error bound upper limit. More... | |
| float32_t | lower |
| Error bound lower limit. More... | |
| dwEgomotionIntegrity | status |
| Integrity of signal and its error bound. More... | |
| float32_t dwEgomotionQuality::lower |
Error bound lower limit.
Definition at line 433 of file EgomotionTypes.h.
| dwEgomotionIntegrity dwEgomotionQuality::status |
Integrity of signal and its error bound.
Definition at line 434 of file EgomotionTypes.h.
| float32_t dwEgomotionQuality::upper |
Error bound upper limit.
Definition at line 432 of file EgomotionTypes.h.