ERUF
The ERUF class implements the extended recursive update filter.
Configuration
- Configure the recurive update
Set the number of recursion steps that are performed by a measurement update with the setNumRecursionSteps() method.
- Enable measurement gating
Enable measurement gating with the setMeasGatingThreshold() method.
- Use a semi-analytic measurement update
Enable a semi-analytic measurement update if a measurement model does not require all state variables with the setStateDecompDim() method.
- Enable post-processing of the predicted state estimate
Set a post-processing method for the state prediction with the setPredictionPostProcessing() method.
- Enable post-processing of the updated state estimate
Set a post-processing method for the measurement update with the setUpdatePostProcessing() method.
Supported Models
Literature
Renato Zanetti, “Recursive Update Filtering for Nonlinear Estimation,” IEEE Transactions on Automatic Control, vol. 57, no. 6, pp. 1481–1490, Jun. 2012.