From 8d2f45b4257b5c9582c31594ce0dbacba0cb7467 Mon Sep 17 00:00:00 2001 From: Mikhail Grushinskiy Date: Sat, 28 Sep 2024 18:56:05 -0400 Subject: [PATCH] Update README.md --- README.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 73626e2..4e9facc 100644 --- a/README.md +++ b/README.md @@ -24,16 +24,17 @@ The method for estimating wave height and heave from a moving boat implemented h 5. Smooth frequency produced by Aranovskiy filter with Kalman smoother. 6. Use another specially designed Kalman filter knowing the frequency and fusing model with trochoidal wave model to double integrate vertical acceleration. Assuming convergence of frequency this method would give real-time phase correction of heave compared to the first Kalman method. Doppler effect due to a boat moving relating to waves has no impact on displacement amplitude. -### Results on Reference Data - -![BBN Boat Heave Sensor Results](bbn_wave_freq_m5atomS3/tests/wave_results.png?raw=true "BBN Boat Heave Sensor Results") - -## Implementation Notes +### Implementation Notes * Rolling min/max algorithm with window of about couple wave periods samples to produce wave height measurement. Algorithm: https://github.com/lemire/runningmaxmin from Daniel Lemire paper, and improvements from: https://github.com/EvanBalster/STL_mono_wedge +### Results on Reference Data + +![BBN Boat Heave Sensor Results](bbn_wave_freq_m5atomS3/tests/wave_results.png?raw=true "BBN Boat Heave Sensor Results") + + ## TODO * Try to find a way for mpu6886 to sample at higher (than 250Hz) frequency