Detailed Description
Vehicle motion observer parameters.
Definition at line 148 of file Egomotion2.h.
Data Fields | |
| size_t | stateHistorySize |
| Internal state history size, in number of elements. More... | |
| float32_t | processCovariance [5] |
| Process covariance parameters (continuous time, coefficients on diagonal). More... | |
| float32_t | initialProcessCovariance [5] |
| [rad^2, rad^2, m^2/s^2, m^2/s^2, m^2/s^2] More... | |
| float32_t | groundSpeedCovariance [3] |
| Measurement covariance parameters (continuous time, coefficients on diagonal). More... | |
| float32_t | bodySpeedCovariance [3] |
| [m^2/s^2, m^2/s^2, m^2/s^2] More... | |
| float32_t | chiSquaredInnovationGate |
| Chi-squared value used to reject outlier speed measurements. More... | |
| float32_t | longitudinalGroundSpeedInnovationGate |
| Variance multiplier value used to reject outlier ground speed measurements. More... | |
| dwTime_t | stepSize |
| VMO prediction step size. More... | |
| bool | fixedStep |
| Whether vmo operates in fixed step or variable step operation during measurement updates. More... | |
| dwVector3f | referencePoint |
| Reference point used internally, expressed in rig coordinate frame. More... | |
| dwVector3f | velocityMax |
| Maximum linear velocity along each axis, to which the state will be constrained (treated as error if error handling is active). More... | |
| dwVector3f | velocityMin |
| Minimum linear velocity along each axis, to which the state will be constrained (treated as error if error handling is active). More... | |
Field Documentation
◆ bodySpeedCovariance
| float32_t dwEgomotionVMOParameters::bodySpeedCovariance[3] |
[m^2/s^2, m^2/s^2, m^2/s^2]
Definition at line 164 of file Egomotion2.h.
◆ chiSquaredInnovationGate
| float32_t dwEgomotionVMOParameters::chiSquaredInnovationGate |
Chi-squared value used to reject outlier speed measurements.
Only applies to body speed measurements at this time. A value of 7.81, corresponding to a p-value of 0.05 (for 3 DoF) is a good choice. [-]
Definition at line 169 of file Egomotion2.h.
◆ fixedStep
| bool dwEgomotionVMOParameters::fixedStep |
Whether vmo operates in fixed step or variable step operation during measurement updates.
In fixed step operation, states are generated in a fixed cadence given by
- Parameters
-
stepSize and measurements are fused into the nearest (in-time) state. If variable step operation, states are generated in a variable cadence to align with measurement timestamps. Prediction-only steps (without measurements) use stepSize. [-]
Definition at line 189 of file Egomotion2.h.
◆ groundSpeedCovariance
| float32_t dwEgomotionVMOParameters::groundSpeedCovariance[3] |
Measurement covariance parameters (continuous time, coefficients on diagonal).
Elements correspond to [v_x, v_y, v_z] along ground and rig (body) coordinate frames, where X points forward, Y left, Z upwards and origin is at the center of the rear axle, projected on the ground. [m^2/s^2, m^2/s^2, m^2/s^2]
Definition at line 163 of file Egomotion2.h.
◆ initialProcessCovariance
| float32_t dwEgomotionVMOParameters::initialProcessCovariance[5] |
[rad^2, rad^2, m^2/s^2, m^2/s^2, m^2/s^2]
Definition at line 157 of file Egomotion2.h.
◆ longitudinalGroundSpeedInnovationGate
| float32_t dwEgomotionVMOParameters::longitudinalGroundSpeedInnovationGate |
Variance multiplier value used to reject outlier ground speed measurements.
Only applies to longitudinal ground speed measurements at this time. A value of 2.5, corresponding to a 98.7% probability of detecting outlier measurements is a decent choice. Higher values will result in fewer measurements being rejected. [-]
Definition at line 176 of file Egomotion2.h.
◆ processCovariance
| float32_t dwEgomotionVMOParameters::processCovariance[5] |
Process covariance parameters (continuous time, coefficients on diagonal).
Elements correspond approximatively to [pitch, roll, v_x, v_y, v_z] estimates. [rad^2, rad^2, m^2/s^2, m^2/s^2, m^2/s^2]
Definition at line 156 of file Egomotion2.h.
◆ referencePoint
| dwVector3f dwEgomotionVMOParameters::referencePoint |
Reference point used internally, expressed in rig coordinate frame.
Should be near to IMU mounting location. [m]
Definition at line 193 of file Egomotion2.h.
◆ stateHistorySize
| size_t dwEgomotionVMOParameters::stateHistorySize |
Internal state history size, in number of elements.
Recommended to leave 0 for automatic size given dwEgomotionMeasurementParameters settings. [-]
Definition at line 152 of file Egomotion2.h.
◆ stepSize
| dwTime_t dwEgomotionVMOParameters::stepSize |
VMO prediction step size.
When predicting, steps the filter by this increment.
- Note
- see fixedStep [us]
Definition at line 181 of file Egomotion2.h.
◆ velocityMax
| dwVector3f dwEgomotionVMOParameters::velocityMax |
Maximum linear velocity along each axis, to which the state will be constrained (treated as error if error handling is active).
Must be positive. [m/s]
Definition at line 198 of file Egomotion2.h.
◆ velocityMin
| dwVector3f dwEgomotionVMOParameters::velocityMin |
Minimum linear velocity along each axis, to which the state will be constrained (treated as error if error handling is active).
[m/s] Must be negative. [m/s]
Definition at line 203 of file Egomotion2.h.
The documentation for this struct was generated from the following file: