RSSI kalman filter
Dependents: VNG_BLEBeaconPostion
Diff: KamalFilterRSSI.h
- Revision:
- 0:dd8a94919e2e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/KamalFilterRSSI.h Tue Aug 02 18:06:10 2016 +0000 @@ -0,0 +1,39 @@ +/* + * File: KamalFilterRSSI.h + * Author: longdh + * + * Created on July 12, 2016, 1:04 PM + */ + +#ifndef KAMALFILTERRSSI_H +#define KAMALFILTERRSSI_H + +class KamalFilterRSSI { +public: + KamalFilterRSSI(double q, double r, double p); + virtual ~KamalFilterRSSI(); + + void init(double x){ _x = x ;} + void setProcessNoiseCovariance(double i){ _q = i; _q_init = i;} + void setMeasurementNoiseCovariance(double i){_r = i; _r_init = i ;} + void setEstimatiomErrorCovariance(double i){_p = i; _p_init = i ;} + virtual double kalmanUpdate(double measurement); + void reset(){_q = _q_init; _r = _r_init ; _p = _p_init;}; + + double getProcessNoiseCovariance(){ return _q;} + double getMeasurementNoiseCovariance(){return _r;} + double getEstimatiomErrorCovariance(){return _p;} + double getKalmanGain() { return _k;} + +private: + double _q; //process noise covariance + double _q_init; + double _r; //measurement noise covariance + double _r_init; + double _x; //value + double _p; //estimation error covariance + double _p_init; + double _k; //kalman gain +}; + +#endif /* KAMALFILTERRSSI_H */