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fixed some gfx

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added some comments to the tex
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FrankE
2016-07-12 17:20:09 +02:00
parent f8d5449dbc
commit 83dab61ca1
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competition/tex/chapters/barometer.tex
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@@ -1,16 +1,16 @@
\subsection{Barometer}
If available, the Smartphone's barometer is used to infer the likeliness of the current $z$-location%
If available, the Smartphone's barometer is used to infer the likeliness of the current $z$-location.
%
As ambient pressure readings are highly influenced by environmental conditions
like the weather, time-of-day and others \cite{Muralidharan14-BPS},
we use relative pressure instead of absolute ones.%
we use relative pressure instead of absolute ones.
%
Due to noisy sensors, more than one reading is used to estimate this relative base.
The usual setup time of a navigation-system (route calculation, etc.)
is used to average all barometer readings during this timeframe.
This average $\overline{\mObsPressure}$ serves as relative base.
Furthermore, we estimate the sensor's uncertainty $\sigma_\text{baro}$ for later use within the evaluation step.%
Furthermore, we estimate the sensor's uncertainty $\sigma_\text{baro}$ for later use within the evaluation step.
%
During each transition from $\mStateVec_{t-1}$ to $\mStateVec_t$, we need a corresponding, relative
pressure prediction $\mStatePressure$ which is adjusted whenever a $z$-change happens within the transition.