feat(fusion): fuse Doppler velocity in ESKF

2026-07-25 13:11:33 +03:00
parent 2da5fb7153
commit 971be036a0
19 changed files with 647 additions and 106 deletions
@@ -10,6 +10,7 @@
 			double ecef_m[3];
 			double clock_bias_m;
 			double velocity_ecef_mps[3];
+			double velocity_covariance_ecef_mps2[3][3];
 			double clock_drift_mps;
 			double speed_mps;
 			double velocity_residual_rms_mps;
@@ -55,6 +55,7 @@ bool gps_tracking_velocity_wls(
 	const gps_tracking_measurement_t measurements[],
 	unsigned int count,
 	double receiver_velocity_ecef_mps_out[3],
+	double receiver_velocity_covariance_ecef_mps2_out[3][3],
 	double* receiver_clock_drift_mps_out,
 	double* residual_rms_mps_out);