Nav: Fuse world-frame velocity into altitude estimate when velocity is transsonic

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Evaluación

Dificultad
5/5
Tiempo estimado
Más de una semana
Aptitud para principiantes
38/100
Tipo de issue
Nueva funcionalidad
Claridad
Bastante claro
Estado de actividad
Activo
Stack tecnológico
c
Área
embedded-iot

Línea de trabajo

Start by loading the LockedIn flight data in the emulator, as the issue requests, and inspect the navigation altitude and velocity estimates around the stated Mach ranges. The issue does not name source files or tests; identify the sensor fusion entry points and how emulator results are evaluated. Done when barometric altitude is trusted less and IMU velocity is fused during the specified ranges, with the velocity estimate updated earlier as needed and validated against the flight data.

Escrito por el modelo de indexación a partir del texto del issue.

Descripción

enhancement

Version: v3.1.0 (FC version v2.8.0 and/or v3.1.0)

Describe the feature you'd like
Our data from LockedIn showed that our barometric altitude measurement had some crazy discrepancies as the rocket approached its maximum velocity, which we believe to be just below mach 0.8.

Image Image

We should trust our barometric altitude less during this time (increase from M0.7 to M0.85 and decrease from M1.15 to M1.3) and fuse in our IMU velocity to try and account for this issue.

In order to do this, we need to improve the accuracy of our velocity estimate. We should consider trying to update the Z velocity estimate earlier in flight when we can trust pressure more, that way we account for saturation of acceleration on our longitudinal axis.

Additional context
This should be tested with the LockedIn flight data on the emulator.

Points of Contact
Sensor Fusion SME: @NArmistead
Mod maintainer & NAV architecture SME: @ETSells

Lenguaje dominante
C
Estrellas
4
Forks
2
Merge medio
5 d 18 h
PR fusionados (30 d)
4

Preparar el entorno

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  3. Haz un fork del repositorio y trabaja en una rama.
  4. Abre un pull request que haga referencia al número del issue.

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