Vulcan
Aerospace Engineering Utilities Built on Janus
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vulcan::estimation::UKFParams Struct Reference

UKF tuning parameters. More...

#include <UnscentedKF.hpp>

Public Member Functions

double lambda (int n) const
 Compute lambda scaling factor.
double Wm0 (int n) const
 Compute weight for mean of zeroth sigma point.
double Wc0 (int n) const
 Compute weight for covariance of zeroth sigma point.
double Wi (int n) const
 Compute weight for other sigma points (same for mean and covariance).

Public Attributes

double alpha = 1e-3
 Spread of sigma points around mean (1e-4 to 1).
double beta = 2.0
 Prior knowledge about distribution (2 = Gaussian).
double kappa = 0.0
 Secondary scaling parameter.

Detailed Description

UKF tuning parameters.

Controls the spread and weighting of sigma points.

Member Function Documentation

◆ lambda()

double vulcan::estimation::UKFParams::lambda ( int n) const
inline

Compute lambda scaling factor.

◆ Wc0()

double vulcan::estimation::UKFParams::Wc0 ( int n) const
inline

Compute weight for covariance of zeroth sigma point.

◆ Wi()

double vulcan::estimation::UKFParams::Wi ( int n) const
inline

Compute weight for other sigma points (same for mean and covariance).

◆ Wm0()

double vulcan::estimation::UKFParams::Wm0 ( int n) const
inline

Compute weight for mean of zeroth sigma point.

Member Data Documentation

◆ alpha

double vulcan::estimation::UKFParams::alpha = 1e-3

Spread of sigma points around mean (1e-4 to 1).

◆ beta

double vulcan::estimation::UKFParams::beta = 2.0

Prior knowledge about distribution (2 = Gaussian).

◆ kappa

double vulcan::estimation::UKFParams::kappa = 0.0

Secondary scaling parameter.

The documentation for this struct was generated from the following file: