PDR/1.Software/PDR 1.02/include/pdr_kalman.h

/******************** (C) COPYRIGHT 2020 Geek************************************
* File Name          : pdr_kalman.h
* Department         : Sensor Algorithm Team
* Current Version    : V2.0(compare QCOM SAP 5.0)
* Author             : logzhan
* Date of Issued     : 2020.7.3
* Comments           : PDR <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؽṹ<EFBFBD>嶨<EFBFBD><EFBFBD>
********************************************************************************/
#ifndef _PDR_KALMAN_H_
#define _PDR_KALMAN_H_

#ifdef __cplusplus
extern "C" {
#endif

/**----------------------------------------------------------------------
* Function    : EKF_Init
* Description : <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* Date        : 2022/09/19 
*---------------------------------------------------------------------**/
void EKF_Init(void);

/**----------------------------------------------------------------------
* Function    : EKFStatePredict
* Description : pdr<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬Ԥ<EFBFBD>ⷽ<EFBFBD><EFBFBD>
* Date        : 2022/09/19 logzhan
*---------------------------------------------------------------------**/
void EKFStatePredict(KfPara_t* kf, double step_length, PDR* g_pdr, int step);

/**----------------------------------------------------------------------
* Function    : EKFCalQRMatrix
* Description : <EFBFBD><EFBFBD><EFBFBD>㿨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*               scane_type, <EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷǿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*               nmea_data<EFBFBD><EFBFBD>NMEA<EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>
*               g_pdr<EFBFBD><EFBFBD>PDR<EFBFBD>ṹ<EFBFBD><EFBFBD>
*               sys<EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>
*               kf<EFBFBD><EFBFBD>EKF<EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>
* Date        : 2022/09/19 logzhan
*---------------------------------------------------------------------**/
void EKFCalQRMatrix(lct_nmea* nmea_data, PDR* g_pdr, classifer* sys, KfPara_t* kf);

/**----------------------------------------------------------------------
* Function    : pdr_ekfStateUpdate
* Description : pdr<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD>
* Date        : 2020/7/22 logzhan
*---------------------------------------------------------------------**/
void EKFStateUpdate(KfPara_t* kf, GNSS_t* pgnss, classifer* sys, PDR* g_pdr,
	int scene_type);

/**----------------------------------------------------------------------
* Function    : pdr_gnssInsLocFusion
* Description : PDR<EFBFBD><EFBFBD>GNSS<EFBFBD><EFBFBD>INS<EFBFBD>ں϶<EFBFBD>λ
* Date        : 2020/07/09 logzhan
*---------------------------------------------------------------------**/
void GnssInsLocFusion(GNSS_t* pgnss, PDR* g_pdr, classifer* sys, double yaw_bias,
	KfPara_t* kf, lct_fs* res);

#ifdef __cplusplus
}
#endif

#endif