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ekf2: stricter GNSS vel rejected innovation override #23778

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Oct 7, 2024
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ekf2: stricter GNSS vel rejected innovation override #23778

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8 changes: 7 additions & 1 deletion src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,13 @@ void Ekf::updateGnssVel(const imuSample &imu_sample, const gnssSample &gnss_samp

// vz special case if there is bad vertical acceleration data, then don't reject measurement if GNSS reports velocity accuracy is acceptable,
// but limit innovation to prevent spikes that could destabilise the filter
if (aid_src.innovation_rejected && _fault_status.flags.bad_acc_vertical && (gnss_sample.sacc < _params.req_sacc)) {
bool bad_acc_vz_rejected = _fault_status.flags.bad_acc_vertical
&& (aid_src.test_ratio[2] > 1.f) // vz rejected
&& (aid_src.test_ratio[0] < 1.f) && (aid_src.test_ratio[1] < 1.f); // vx & vy accepted

if (bad_acc_vz_rejected
&& (gnss_sample.sacc < _params.req_sacc)
) {
const float innov_limit = innovation_gate * sqrtf(aid_src.innovation_variance[2]);
aid_src.innovation[2] = math::constrain(aid_src.innovation[2], -innov_limit, innov_limit);
aid_src.innovation_rejected = false;
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