优化滤波器的参数

app/app_game.c

@@ -91,7 +91,7 @@ static void process_imu_data_front(int front_index)
 	if(front_index >IMU_MAX_GROUP_NUM)return;
 	for(int i = 0; i < front_index; i++)
 	{
-		int32_t dt = timestamp_front[i] - last_timestamp + 75;
+		int32_t dt = timestamp_front[i] - last_timestamp + 100;
 	
 		last_timestamp = timestamp_front[i];
 		

motion/trajAlgorithm/ekfPDR.c

@@ -223,13 +223,13 @@ void State_covariance_matrix_update(float *P, float *acc_n, float dt)
 
 	for (int i = 0; i < 3; i++)
 	{
-		P[i * 9 + i] += 0.000001f;
+		P[i * 9 + i] += noise;
 	}
 	
 	for (int i = 6; i < 9; i++)
 	{
-		P[i * 9 + i] += 0.0001f ;
-		//P[i * 9 + i] += noise*100.f ;
+		//P[i * 9 + i] += 0.0001f ;
+		P[i * 9 + i] += noise*100.f ;
 	}
 
 }