From c6da6c2862bb99383fdb5b577f2b45c66c491e61 Mon Sep 17 00:00:00 2001 From: Mikhail Grushinskiy Date: Tue, 10 Sep 2024 09:23:42 -0400 Subject: [PATCH] Update KalmanForWave.h --- bbn_wave_freq_m5atomS3/KalmanForWave.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/bbn_wave_freq_m5atomS3/KalmanForWave.h b/bbn_wave_freq_m5atomS3/KalmanForWave.h index 807edb6..7861ee3 100644 --- a/bbn_wave_freq_m5atomS3/KalmanForWave.h +++ b/bbn_wave_freq_m5atomS3/KalmanForWave.h @@ -4,6 +4,12 @@ /* Copyright 2024, Mikhail Grushinskiy + 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). + Process model: velocity: