63 lines
2.5 KiB
C
63 lines
2.5 KiB
C
/******************** (C) COPYRIGHT 2020 VIVO************************************
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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 : yuanlin_rjyb@vivo.com & zhanli@vivo.com
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* Date of Issued : 2020.7.3
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* Comments : PDR 卡尔曼滤波器头文件函数声明以及相关结构体定义
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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 : pdr_initKalman
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* Description : 初始化卡尔曼滤波器相关
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* Date : 2020/8/27 yuanlin_rjyb@vivo.com
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*---------------------------------------------------------------------**/
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void pdr_initKalman(void);
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/**----------------------------------------------------------------------
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* Function : pdr_ekfStatePredict
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* Description : pdr卡尔曼滤波器的状态预测方程
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* Date : 2020/7/22 yuanlin_rjyb@vivo.com
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*---------------------------------------------------------------------**/
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void pdr_ekfStatePredict(KfPara* kf, double step_length, PDR* g_pdr, int step);
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/**----------------------------------------------------------------------
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* Function : getQRValue
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* Description : 调整卡尔曼滤波噪声矩阵
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* scane_type, 用户所处场景（开阔和非开阔）
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* nmea_data，NMEA数据结构体
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* g_pdr，PDR结构体
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* sys，运动幅度数据结构体
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* kf，EKF数据结构体
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* Date : 2020/07/09 yuanlin_rjyb@vivo.com
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*---------------------------------------------------------------------**/
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void calEkfQRMatrix(lct_nmea* nmea_data, PDR* g_pdr, classifer* sys, KfPara* kf);
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/**----------------------------------------------------------------------
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* Function : pdr_ekfStateUpdate
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* Description : pdr卡尔曼滤波器的状态更新方程
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* Date : 2020/7/22 yuanlin_rjyb@vivo.com
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*---------------------------------------------------------------------**/
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void pdr_ekfStateUpdate(KfPara* kf, gnss* pgnss, classifer* sys, PDR* g_pdr,
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int scene_type);
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/**----------------------------------------------------------------------
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* Function : pdr_gnssInsLocFusion
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* Description : PDR的GNSS和INS融合定位
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* Date : 2020/07/09 yuanlin_rjyb@vivo.com
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*---------------------------------------------------------------------**/
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void pdr_gnssInsLocFusion(gnss* pgnss, PDR* g_pdr, classifer* sys, double yaw_bias,
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KfPara* kf, lct_fs* res);
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#ifdef __cplusplus
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}
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#endif
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#endif
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