har-in-air / kalmanfilter_altimeter_vario Goto Github PK
View Code? Open in Web Editor NEWKalman filter to estimate altitude and climbrate(sinkrate) by fusing altitude and acceleration sensor data
License: GNU General Public License v2.0
Kalman filter to estimate altitude and climbrate(sinkrate) by fusing altitude and acceleration sensor data
License: GNU General Public License v2.0
Hi I think something wrong in " Update state covariance matrix"
Paz -= ka * Pzz;
Pav -= ka * Pzv;
Paa -= ka * Pza;
Pvz -= kv * Pzz;
Pvv -= kv * Pzv;
Pva -= kv * Pza;
Pzz -= kz * Pzz;
Pzv -= kz * Pzv;
Pza -= kz * Pza;
must be
Paz_ -= ka * Pzz_;
Pav_ -= ka * Pzv_;
Paa_ -= ka * Pza_;
Pvz_ -= kv * Pzz_;
Pvv_ -= kv * Pzv_;
Pva_ -= kv * Pza_;
Pzz_ -= kz * Pzz_;
Pzv_ -= kz * Pzv_;
Pza_ -= kz * Pza_;
I am using your code in my flight controller. I believe the state covariance matrix update should be reversed as the new P values are being overwritten e.g. Pzz is computed and then used to update Paz.
I think the ordering should be:
Paz -= ka * Pzz;
Pav -= ka * Pzv;
Paa -= ka * Pza;
Pvz -= kv * Pzz;
Pvv -= kv * Pzv;
Pva -= kv * Pza;
Pzz -= kz * Pzz;
Pzv -= kz * Pzv;
Pza -= kz * Pza;
Cheers
Hi
I have tested your code , it has good precision in difference of altitude but absolute altitude is drift because of barometer . Is there any way fix this without GPS?
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