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rodralez / NaveGo

NaveGo: an open-source MATLAB/GNU Octave toolbox for processing integrated navigation systems and performing inertial sensors analysis.
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Unit mismatch in Dynamic Bias PSD calcutions. #131

Closed venkat057 closed 2 years ago

venkat057 commented 2 years ago

Hi,

  1. In conversions/imu_si_errors.m at line 95 and 101 while calculating Dynamic Bias PSD calculation units are not matched with equation. imu_si.ab_psd = imu_si.ab_dyn ./ sqrt(imu.ab_corr); % m/s^2/root(Hz)
    --- Actual units will be % m/s^2/root(time) .... --- correct Equation will be imu_si.ab_psd = imu_si.ab_dyn .* sqrt(imu.ab_corr); % m/s^2/root(Hz)
    Please check . same for gyro bias PSD.

  2. In kf_update.m why below equation is being used instead of Joseph stabilized version which is correct as per many references. Is there any advantage with it.?

% Step 5, update the a posteriori covariance matrix, Pp kf.Pp = kf.Pi - kf.K kf.S kf.K'; % Eq. 3.10 from Särkkä

Thank you, K.Venkatarao.