| commit | dc5b63e40ee697324d39fe105d6f12c2bb031fc6 | [log] [tgz] |
|---|---|---|
| author | Mathias Agopian <mathias@google.com> | Mon Jun 18 18:49:08 2012 -0700 |
| committer | Mathias Agopian <mathias@google.com> | Wed Jun 27 17:07:56 2012 -0700 |
| tree | 70b1099232f3780baee49700b70446a0b1eeee32 | |
| parent | 8dd4fe8dd37b740282b48b7867eec26fcf95e027 [diff] |
small improvement to sensor fusion 1) there was a typo when computing the system covariance a term in dT^3 was ommitted; the impact was was very limited because of how small this term is. 2) initialize the system covariance matrix with non-zero values for the gyro-bias part. this improves the initial bias estimation speed significantly. 3) added comments here and there Change-Id: I4328c9cca73e089889d5e74b9fda99d7831762dc