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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/src/adapters/gps_fusion_publisher.c
+3
View File
@@ -27,6 +27,9 @@ bool gps_fusion_build_measurement(
memcpy(measurement_out->velocity_ecef_mps,
solution->velocity_ecef_mps,
sizeof(measurement_out->velocity_ecef_mps));
memcpy(measurement_out->velocity_covariance_ecef_mps2,
solution->velocity_covariance_ecef_mps2,
sizeof(measurement_out->velocity_covariance_ecef_mps2));
measurement_out->speed_mps = solution->speed_mps;
measurement_out->velocity_residual_rms_mps =
solution->velocity_residual_rms_mps;
soc/software/gps_system/src/adapters/gps_system_uart.c
+5 -1
View File
@@ -116,15 +116,19 @@ void gps_system_uart_publish_periodic_fusion_status(
{
GPS_LOG(DEBUG_EVENTS, GPS_LOG_CAT_FUSION,
"state=%s lat=%.10lf lon=%.10lf height=%.3lf "
"speed=%.3lf nis=%.3lf gps=%lu/%lu recoveries=%lu "
"speed=%.3lf pos_nis=%.3lf vel_nis=%.3lf "
"gps=%lu/%lu velocity=%lu/%lu recoveries=%lu "
"zupt=%lu replay=%lu "
"sigma=%.2lf,%.2lf,%.2lf imu=%lu fused_imu=%lu "
"overflow=%lu missed=%lu\r\n",
fusion_motion_state_name(output->motion_state),
output->latitude_deg, output->longitude_deg, output->height_m,
output->speed_mps, output->last_position_nis,
output->last_velocity_nis,
(unsigned long)output->gps_accepted,
(unsigned long)output->gps_nis_rejected,
(unsigned long)output->gps_velocity_accepted,
(unsigned long)output->gps_velocity_nis_rejected,
(unsigned long)output->gps_position_recoveries,
(unsigned long)output->zero_update_count,
(unsigned long)output->replay_count,