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