36 lines
1.3 KiB
C
36 lines
1.3 KiB
C
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#ifndef _PDR_KALMAN_H_
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#define _PDR_KALMAN_H_
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#include "PDRBase.h"
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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 : 2022/09/21 logzhan
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*---------------------------------------------------------------------**/
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void EKF_Init(void);
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/**----------------------------------------------------------------------
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* Function : EKFCalQRMatrix
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPS<EFBFBD>ź<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>q<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* <EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD>Ԥ<EFBFBD><EFBFBD>λ<EFBFBD>þ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ء<EFBFBD>r<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪGNSS<EFBFBD>۲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPS<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* <EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>йء<EFBFBD>
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* Date : 2022/09/21 logzhan
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*---------------------------------------------------------------------**/
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void EKFCalQRMatrix();
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/**----------------------------------------------------------------------
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* Function : EKFStateUpdate
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* Description : <EFBFBD><EFBFBD>չ<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);
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/**----------------------------------------------------------------------
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* Function : EKFUpdateInsState
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* Description : <EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>INS״̬
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* Date : 2022/09/23 logzhan
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*---------------------------------------------------------------------**/
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void EKFUpdateInsState(void);
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#endif
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