fsw::nav::EKFNavigationEnhanced Class Reference

Enhanced EKF Navigation with Magnetometer Support. More...

#include <EKFNavigationEnhanced.hpp>

Inheritance diagram for fsw::nav::EKFNavigationEnhanced:

Collaboration diagram for fsw::nav::EKFNavigationEnhanced:

Classes
struct	EnhancedConfig
	Enhanced configuration with magnetometer parameters. More...

Public Member Functions
	EKFNavigationEnhanced ()
	~EKFNavigationEnhanced ()
bool	initialize (const EnhancedConfig &config, const NavigationState &initial_state)
	Initialize with enhanced configuration.
bool	processMagnetometerMeasurement (const IMUMeasurement &measurement, const calibration::IMUCalibration::CalibratedReading &calibrated)
	Process magnetometer measurement with calibration.
double	getHeading () const
	Get heading estimate (from magnetometer + gyro fusion).
Eigen::Vector3d	getMagneticField () const
	Get magnetic field estimate.
void	setIMUCalibration (std::shared_ptr< calibration::IMUCalibrationSystem > calib_system)
	Set IMU calibration system.

Private Member Functions
void	updateWithMagnetometer (const Eigen::Vector3d &mag_field)
Eigen::Vector3d	computeMagnetometerMeasurement (const Eigen::VectorXd &state) const
Eigen::MatrixXd	computeMagnetometerJacobian (const Eigen::VectorXd &state) const
double	computeHeadingFromQuaternion (const Eigen::Quaterniond &q) const
double	computeHeadingFromMagnetometer (const Eigen::Vector3d &mag_field, const Eigen::Quaterniond &q) const

Private Attributes
EnhancedConfig	enhanced_config_
std::shared_ptr< calibration::IMUCalibrationSystem >	imu_calibration_
Eigen::Vector3d	magnetic_field_
double	heading_
std::mutex	mag_mutex_

Detailed Description

Enhanced EKF Navigation with Magnetometer Support.

Extends EKFNavigation to properly integrate magnetometer measurements for heading estimation and attitude correction.

Definition at line 16 of file EKFNavigationEnhanced.hpp.

Constructor & Destructor Documentation

EKFNavigationEnhanced()

fsw::nav::EKFNavigationEnhanced::EKFNavigationEnhanced

(

)

~EKFNavigationEnhanced()

fsw::nav::EKFNavigationEnhanced::~EKFNavigationEnhanced

(

)

Member Function Documentation

computeHeadingFromMagnetometer()

double fsw::nav::EKFNavigationEnhanced::computeHeadingFromMagnetometer ( const Eigen::Vector3d & mag_field, const Eigen::Quaterniond & q ) const

private

computeHeadingFromQuaternion()

double fsw::nav::EKFNavigationEnhanced::computeHeadingFromQuaternion ( const Eigen::Quaterniond & q ) const

private

computeMagnetometerJacobian()

Eigen::MatrixXd fsw::nav::EKFNavigationEnhanced::computeMagnetometerJacobian ( const Eigen::VectorXd & state ) const

private

References state.

computeMagnetometerMeasurement()

Eigen::Vector3d fsw::nav::EKFNavigationEnhanced::computeMagnetometerMeasurement ( const Eigen::VectorXd & state ) const

private

References state.

getHeading()

double fsw::nav::EKFNavigationEnhanced::getHeading

(

)

const

Get heading estimate (from magnetometer + gyro fusion).

getMagneticField()

Eigen::Vector3d fsw::nav::EKFNavigationEnhanced::getMagneticField

(

)

const

Get magnetic field estimate.

initialize()

bool fsw::nav::EKFNavigationEnhanced::initialize	(	const EnhancedConfig &	config,
		const NavigationState &	initial_state )

Initialize with enhanced configuration.

processMagnetometerMeasurement()

bool fsw::nav::EKFNavigationEnhanced::processMagnetometerMeasurement	(	const IMUMeasurement &	measurement,
		const calibration::IMUCalibration::CalibratedReading &	calibrated )

Process magnetometer measurement with calibration.

Parameters

measurement	Raw magnetometer reading
calibrated	Calibrated magnetometer reading

Returns

true if processed successfully

References calibrated.

setIMUCalibration()

void fsw::nav::EKFNavigationEnhanced::setIMUCalibration

(

std::shared_ptr< calibration::IMUCalibrationSystem >

calib_system

)

Set IMU calibration system.

updateWithMagnetometer()

void fsw::nav::EKFNavigationEnhanced::updateWithMagnetometer ( const Eigen::Vector3d & mag_field )

private

Member Data Documentation

enhanced_config_

EnhancedConfig fsw::nav::EKFNavigationEnhanced::enhanced_config_

private

Definition at line 80 of file EKFNavigationEnhanced.hpp.

heading_

double fsw::nav::EKFNavigationEnhanced::heading_

private

Definition at line 85 of file EKFNavigationEnhanced.hpp.

imu_calibration_

std::shared_ptr<calibration::IMUCalibrationSystem> fsw::nav::EKFNavigationEnhanced::imu_calibration_

private

Definition at line 81 of file EKFNavigationEnhanced.hpp.

mag_mutex_

std::mutex fsw::nav::EKFNavigationEnhanced::mag_mutex_

mutableprivate

Definition at line 86 of file EKFNavigationEnhanced.hpp.

magnetic_field_

Eigen::Vector3d fsw::nav::EKFNavigationEnhanced::magnetic_field_

private

Definition at line 84 of file EKFNavigationEnhanced.hpp.

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The documentation for this class was generated from the following file:

• daq-server/diablo_server/lib/include/nav/EKFNavigationEnhanced.hpp