James Cotton
0eedaa1250
Change how we convert LLA to NED. Now it is done with a taylor expansion
...
around the home LLA coordinate to avoid the conversion into ECEF coordinates.
This has the benefit of not requiring double precision math and uses less
operations.
Now we should remove the Rne and ECEF fields from HomeLocation as they are
unused
2012-04-03 03:42:25 -05:00
James Cotton
093d52b002
More simulation work
2012-04-03 03:42:23 -05:00
James Cotton
137429d92d
More work for the simulation
2012-04-03 03:42:22 -05:00
James Cotton
55ee568fe2
Work on the INS algorithm
2012-04-03 03:42:21 -05:00
James Cotton
6f34153ae7
Check in some code for simulating the INSGPS
2012-04-03 03:42:20 -05:00
James Cotton
900780e10c
Add bias estimation to the altitude fusion algorithm. Necessary to increase
...
the gains on acceleration and velocity feedback terms (they are a problem when
biased).
2012-02-19 11:38:09 -06:00
James Cotton
7d4582e5f0
Update the altitude KF to use the updated measurements appropriately and check
...
in the relevant matlab code to check it and genererate it. Produces quite
smooth traces.
2012-02-16 05:33:47 -06:00
James Cotton
0b778667b3
Improve log processing code
2012-01-28 10:11:34 -06:00
James Cotton
e0fc4c30ee
Small fix to revo sensor log processing. Also check in allan analysis.
2012-01-26 23:31:12 -06:00
James Cotton
bf98630851
Add streaming the sensor data out of the serial port
2011-12-26 17:52:45 -06:00
