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feat(fusion): fuse Doppler velocity in ESKF

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onur
2026-07-25 13:11:33 +03:00
parent 2da5fb7153
commit 971be036a0
19 changed files with 647 additions and 106 deletions
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soc/software/gps_system/header/fusion/navigation_fusion.h
+6 -2
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@@ -20,10 +20,13 @@ typedef struct {
double position_std_m[3];
double speed_mps;
double last_position_nis;
double last_velocity_nis;
fusion_motion_state_t motion_state;
uint64_t gps_accepted;
uint64_t gps_nis_rejected;
uint64_t gps_position_recoveries;
uint64_t gps_velocity_accepted;
uint64_t gps_velocity_nis_rejected;
uint64_t zero_update_count;
uint64_t replay_count;
uint64_t stale_gps_count;
@@ -54,8 +57,9 @@ void navigation_fusion_set_platform_landed(
* ESKF observation and is never rate-selected in this layer. */
bool navigation_fusion_push_imu(const imu_sample_t* measurement);
/* Observation input: convert a valid LLH fix to local ENU, apply it at the
* captured GPS epoch, then replay newer IMU history to current time. */
/* Observation input: convert a valid LLH fix and optional Doppler velocity to
* local ENU, apply both at the captured GPS epoch, then replay newer IMU
* history to current time. */
bool navigation_fusion_push_gps(const fusion_gps_measurement_t* measurement);
/* local_valid can exist without GPS. global_valid/valid require a GPS origin. */