General Kalman filter
Dependents: HealthCare_Graduation
Fork of KalmanFilter by
Diff: KamalFilterRSSI.cpp
- Revision:
- 1:f696623db4b5
- Parent:
- 0:dd8a94919e2e
--- a/KamalFilterRSSI.cpp Tue Aug 02 18:06:10 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,36 +0,0 @@ -/* - * File: KamalFilterRSSI.cpp - * Author: longdh - * - * Created on July 12, 2016, 1:04 PM - */ - -#include "KamalFilterRSSI.h" - -KamalFilterRSSI::KamalFilterRSSI(double q, double r, double p) - : _q(q), _q_init(q), _r(r), _r_init(0), _x(0), _p(p), _p_init(p), _k(_p / (_p + _r)) -{ - -} - -KamalFilterRSSI::~KamalFilterRSSI() { -} - -/** - * update data - * - * @param measurement - * @return - */ -double KamalFilterRSSI::kalmanUpdate(double measurement) { - //prediction update - //omit _x = _x - _p = _p + _q; - - //measurement update - _k = _p / (_p + _r); - _x = _x + _k * (measurement - _x); - _p = (1 - _k) * _p; - - return _x; -}