From 45c90eee66393d63538f934b28672523682e028b Mon Sep 17 00:00:00 2001 From: Mikhail Grushinskiy Date: Tue, 10 Sep 2024 09:25:16 -0400 Subject: [PATCH] Update KalmanForWave.h --- bbn_wave_freq_m5atomS3/KalmanForWave.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/bbn_wave_freq_m5atomS3/KalmanForWave.h b/bbn_wave_freq_m5atomS3/KalmanForWave.h index 7861ee3..8a7d7b1 100644 --- a/bbn_wave_freq_m5atomS3/KalmanForWave.h +++ b/bbn_wave_freq_m5atomS3/KalmanForWave.h @@ -6,9 +6,9 @@ Kalman filter to double integrate vertical acceleration in wave into vertical displacement, correct for accelerometer bias, - estimate accelerometer bias, correct integral for zero average displacement - (thus third integral is taken as measurement of zero, responsible - for zero average vertical displacement). + estimate accelerometer bias, correct integral for zero average displacement. + The third integral (responsible for zero average vertical displacement) + is taken as a measurement of zero. Process model: