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lijie
2024-01-24 15:56:10 +08:00
commit 2c58355e63
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IMU/kalman.c Normal file
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#include "kalman.h"
//һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>
void kalmanfiter(struct KalmanFilter *EKF,float input)
{
EKF->NewP = EKF->LastP + EKF->Q;
EKF->Kg = EKF->NewP / (EKF->NewP + EKF->R);
EKF->Out = EKF->Out + EKF->Kg * (input - EKF->Out);
EKF->LastP = (1 - EKF->Kg) * EKF->NewP;
}