Struct rc_kalman_t#

Defined in File kalman.h

Struct Documentation#

struct rc_kalman_t#

State Transition Matrices for linear filter only

rc_matrix_t F#: undriven state-transition model

rc_matrix_t G#: control input model

rc_matrix_t H#: observation-model

Covariance Matrices

rc_matrix_t Q#: Process noise covariance set by user.

rc_matrix_t R#: Measurement noise covariance set by user.

rc_matrix_t P#: Predicted state error covariance calculated by the update functions.

rc_matrix_t Pi#: Initial P matrix set by user.

State estimates

rc_vector_t x_est#: Estimated state x[k|k] = x[k|k-1],y[k])

rc_vector_t x_pre#: Predicted state x[k|k-1] = f(x[k-1],u[k])

other

int initialized#: set to 1 once initialized with rc_kalman_alloc

uint64_t step#: counts times rc_kalman_measurement_update has been called