1.0

2026-04-05 10:15:40 +08:00
parent 46e7fcdbb2
commit c2a70c9470
7 changed files with 148 additions and 89 deletions
--- a/App/est/corridor_ekf.h
+++ b/App/est/corridor_ekf.h
@@ -43,6 +43,7 @@ typedef struct {
    float q_ey;         // e_y 过程噪声方差
    float q_eth;        // e_th 过程噪声方差
    float q_s;          // s 过程噪声方差
+    float q_ey_eth;     // [改进] e_y 和 e_th 耦合噪声 (横向-航向动力学耦合)

    /* 观测噪声协方差 R */
    float r_ey;         // 横向观测噪声方差 (侧墙)