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This commit is contained in:
nitiantuhao
2026-04-04 23:24:36 +08:00
parent 5e0901a4d9
commit 7c2396a282
11 changed files with 132 additions and 57 deletions
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9
App/preproc/corridor_msgs.h
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@@ -8,7 +8,14 @@
* EKF 状态维度定义
* ========================================================= */
#define EKF_STATE_DIM 3 // [e_y, e_th, s]
#define EKF_OBS_DIM 3 // [z_ey, z_eth_L, z_eth_R]
/* [改进I] 观测维度 (与实际实现对齐):
* 侧墙观测: 1DOF 标量更新 (z_ey)
* IMU 航向: 独立 1DOF 标量更新 (z_eth_imu)，在 Update 后单独调用
* 侧墙航向 (z_eth_L/z_eth_R) 已取消 — VL53 差分噪声过大不适合做航向源
* 旧值 3 对应已取消的 [z_ey, z_eth_L, z_eth_R] 三维观测
*/
#define EKF_OBS_DIM 1 // 实际: 侧墙 1DOF (z_ey)
/* χ² 检验门限 (95% 置信度) */
/* 1 DOF: 3.84, 2 DOF: 5.99, 3 DOF: 7.81 */