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Published 20 hours ago • verified publisher icon PX4

EKF2: reset by fusion with foricing K-Gain to 1

Open haumarco opened this issue 4 months ago • 1 comments

Reset the velocity by forcing K-Gain to 1, similar to https://github.com/PX4/PX4-Autopilot/pull/23710

This is a follow up to https://github.com/PX4/PX4-Autopilot/pull/23644 where I completely uncorrelated the covariances of the position after a velocity reset. While flying with OF as only horizontal aiding a big cross-correlation is built up between the position and the attitude states. Therefore I now only reset position/quat_nominal and position/gyro_bias.

Also I dont force the hard reset when test-ratio is still acceptable but simply enable the fusion again.

Will follow up this PR with more "reset refactoring" using this method if we agree on this approach.

FYI: @priseborough

My explanation: Strong correlation between velocity/position (obvious). Strong correlation between velocity/attitude, since OF basically measures angular rates. Therefore I assume it builds up this "second order" cross-correlation between position/attitude.

Cross-correlations prior to reset: OF: Screenshot from 2024-09-24 09-37-41 GPS: Screenshot from 2024-09-24 09-47-52

haumarco avatar Sep 27 '24 08:09 haumarco