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uf-mil / SubjuGator

SubjuGator 8 on-board software
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Improve state estimation (particularly during DVL beam failures) #321

Open RustyBamboo opened 6 years ago

RustyBamboo commented 6 years ago

We rely mostly on the DVL to return good pings in order to obtain a state estimation. This can result signifcant state drifts if the pings are not good... So a potential solution is to dynamically set coefficents in the kalman filter to vary the trust.

kev-the-dev commented 5 years ago

Hijacking this ticket as a meta ticket for various ways to improve state estimation.

From reading the KF code and speaking with Forest, it DOES seem DVL beam loses are handled correctly.