rc_kalman_t Struct Reference

#include <rc/math/kalman.h>

Data Fields
State Transition Matrices for linear filter only
rc_matrix_t	F
	undriven state-transition model More...
rc_matrix_t	G
	control input model More...
rc_matrix_t	H
	observation-model More...
Covariance Matrices
rc_matrix_t	Q
	Process noise covariance set by user. More...
rc_matrix_t	R
	Measurement noise covariance set by user. More...
rc_matrix_t	P
	Predicted state error covariance calculated by the update functions. More...
rc_matrix_t	Pi
	Initial P matrix set by user. More...
State estimates
rc_vector_t	x_est
	Estimated state x[k|k] = x[k|k-1],y[k]) More...
rc_vector_t	x_pre
	Predicted state x[k|k-1] = f(x[k-1],u[k]) More...
other
int	initialized
	set to 1 once initialized with rc_kalman_alloc More...
uint64_t	step
	counts times rc_kalman_measurement_update has been called More...

Detailed Description

Examples:

rc_altitude.c, and rc_test_kalman.c.

Field Documentation

F

rc_matrix_t F

undriven state-transition model

G

rc_matrix_t G

control input model

H

rc_matrix_t H

observation-model

Q

rc_matrix_t Q

Process noise covariance set by user.

R

rc_matrix_t R

Measurement noise covariance set by user.

P

rc_matrix_t P

Predicted state error covariance calculated by the update functions.

Pi

rc_matrix_t Pi

Initial P matrix set by user.

x_est

rc_vector_t x_est

Estimated state x[k|k] = x[k|k-1],y[k])

Examples:

rc_altitude.c, and rc_test_kalman.c.

x_pre

rc_vector_t x_pre

Predicted state x[k|k-1] = f(x[k-1],u[k])

initialized

int initialized

set to 1 once initialized with rc_kalman_alloc

step

uint64_t step

counts times rc_kalman_measurement_update has been called

Examples:

rc_altitude.c.

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The documentation for this struct was generated from the following file:

• kalman.h