Class SchmidtEKF

Inheritance Relationships

Base Type

Class Documentation

class SchmidtEKF : public lupnt::EKF

Schmidt (consider-parameter) Extended Kalman Filter.

A thin, explicitly-named convenience wrapper around EKF::SetConsiderStateCount: the trailing n_consider elements of the state vector are “consider” states, included in the propagated state/covariance and in the measurement Jacobian (so their uncertainty — and its correlation with the estimated states — is correctly reflected in the covariance), but never corrected by Update.

Typical use: an onboard filter that estimates its own agent’s state from a relative measurement to another agent, while “considering” that other agent’s own (broadcast/prior) state and uncertainty without claiming estimation authority over it, e.g. the distributed ISL onboard filter (lupnt/applications/lunar_sat_odts/satellite_odts_app.h).

Public Functions

SchmidtEKF() = default
inline explicit SchmidtEKF(int n_consider)

Construct a Schmidt EKF whose trailing n_consider state elements are consider states (see EKF::SetConsiderStateCount).

virtual ~SchmidtEKF() = default