55 lines
2.0 KiB
C
55 lines
2.0 KiB
C
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/******************** (C) COPYRIGHT 2020 Geek************************************
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* File Name : pdr_kalman.h
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* Department : Sensor Algorithm Team
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* Current Version : V2.0(compare QCOM SAP 5.0)
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* Author : logzhan
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* Date of Issued : 2020.7.3
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* 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>
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********************************************************************************/
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#ifndef _PDR_KALMAN_H_
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#define _PDR_KALMAN_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**----------------------------------------------------------------------
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* Function : EKF_Init
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* Description : <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Date : 2022/09/19
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*---------------------------------------------------------------------**/
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void EKF_Init(void);
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/**----------------------------------------------------------------------
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* Function : EKFStatePredict
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* Description : pdr<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬Ԥ<EFBFBD>ⷽ<EFBFBD><EFBFBD>
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* Date : 2022/09/19 logzhan
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*---------------------------------------------------------------------**/
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void EKFStatePredict(EKFPara_t* kf, double step_length, PDR_t* g_pdr, int step);
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/**----------------------------------------------------------------------
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* Function : EKFCalQRMatrix
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* Description : <EFBFBD><EFBFBD><EFBFBD>㿨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* 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>
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* nmea_data<EFBFBD><EFBFBD>NMEA<EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>
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* g_pdr<EFBFBD><EFBFBD>PDR<EFBFBD>ṹ<EFBFBD><EFBFBD>
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* sys<EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>
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* kf<EFBFBD><EFBFBD>EKF<EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>
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* Date : 2022/09/19 logzhan
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*---------------------------------------------------------------------**/
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void EKFCalQRMatrix(Nmea_t* nmea_data, PDR_t* g_pdr, Classifer_t* sys, EKFPara_t* kf);
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/**----------------------------------------------------------------------
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* Function : pdr_ekfStateUpdate
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* Description : pdr<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD>
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* Date : 2020/7/22 logzhan
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*---------------------------------------------------------------------**/
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void EKFStateUpdate(EKFPara_t* kf, GNSS_t* pgnss, Classifer_t* sys, PDR_t* g_pdr,
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int scene_type);
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#ifdef __cplusplus
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}
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#endif
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#endif
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