EKF: add baro bias estimator using GNSS altitude #17944
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dagar
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dagar
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I have the issue above, but on 1.11? |
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@BazookaJoe1900 You can try to cherry-pick the commits or to re-apply the changes on your code base, but we won't update the v1.11 release with this, it isn't just a bugfix. Otherwise, I would recommend to move to a newest release. |
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Describe problem solved by this pull request
Barometers develop a bias over time, mainly due to a temperature or a weather change. This can be compensated by estimating the change in offset between another height source that is not affected by the same noise.
Describe your solution
In this PR, the GNSS altitude is used to estimate the bias of the magnetometer using a simple single-state KF.
Additional benefit: this is a requirement for multiple height source fusion (e.g.: GNSS alt + baro)
Test data / coverage
Used for ~1 year on many different drones without issues.
Example SITL test with drifting baro:
EKF2 is using baro as the primary height source but the drift is compensated by the bias estimator introduced in this PR.
https://logs.px4.io/plot_app?log=6a4b836d-6bb8-420d-aceb-ccee324f3f4d