RSSI kalman filter
Dependents: VNG_BLEBeaconPostion
KamalFilterRSSI.cpp
- Committer:
- longdh
- Date:
- 2016-08-02
- Revision:
- 0:dd8a94919e2e
File content as of revision 0:dd8a94919e2e:
/* * 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; }