Implement full pose measurement in EKF #246
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As far as I understand the full pose input implementation in the current EKF is not obvious. Though, I think this kind of interface should be (as far as possible) independent of any particular algorithm anyway so feel free to propose an interface. |
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This adds two new messages to the crtp_localization_service to receive external pose information (compressed and not compressed) such as information obtained by a motion capture system. (Fixes issue bitcraze#203). It also adds a full pose update in the EKF using a scalar update for both position and orientation errors. (Fixes issue bitcraze#246). Tested with the Crazyswarm using a single Crazyflie and a VICON motion capture system.
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The current EKF implementation supports a position measurement à la GPS, but no full pose measurement. In a motion capture system the orientation measurement is also available. Including this information can only improve the state estimation.
I am happy to do the needed work on the radio protocol and the ROS driver, but it would be nice to get some support from an
estimator_kalman.cauthor for the EKF changes.The text was updated successfully, but these errors were encountered: