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odometry_fusion: one error-state filter for every source, with or without an IMU - #3
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jeff-hykin wants to merge 14 commits into
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jeff-hykin wants to merge 14 commits into
jeff-hykin wants to merge 14 commits into
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…g a source out Without an IMU an absolute source pulls the blended pose back by a per-dimension scalar Kalman gain, so the low-noise source carries the short term and the absolute one the long term. With an IMU its pose is an absolute fix. A rejected delta now re-anchors to the filter pose instead of leaving every later target behind, and a source rejected for a second straight is fused ungated.
… and test what each fix changes
…drift" This reverts commit 213b847.
…ariance, and test what each fix changes" This reverts commit aaafadb.
…m locking a source out" This reverts commit e8acbeb.
… velocity without an IMU Sources declare a kind: pose (aligned once, then absolute), twist (body velocity) or pose_delta (relative motion by stochastic cloning). Replaces the no-IMU blend, anchored deltas and per_dimension_error_variance; planar mode pins z, roll and pitch by projection.
…mp keeps its heading
jeff-hykin
changed the title
…ces, in both modes per_dimension_error_variance went with the old IMU-only rows, but besides the planar case (now `planar`) it held a base that cannot slide sideways to vy = 0; nothing replaced that.
…hey could only drag its bias, and real rocking tilted the filter
…ocity and, without an IMU, holds the motion model still, so the pose settles instead of wandering under a pose source's noise
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Replaces the no-IMU blend and its patches with one ESKF (constant-velocity prediction without an IMU, sources fused by kind: pose, twist or pose_delta, planar mode in both); on an R1 replay jitter drops from 13.8 mm (Point-LIO alone) to 4.9 mm.