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FrankE
2016-07-11 12:18:00 +02:00
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competition/tex/chapters/barometer.tex
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\subsection{Barometer}
used if available
relative positioning (z)
relative to the first few measurements
also used to determine uncertainty
If available, the Smartphone's barometer is used to infer the likelyness 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.%
%
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.%
%
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.
%
% \begin{equation}
% \mState_{t}^{\mStatePressure} = \mState_{t-1}^{\mStatePressure} + \Delta z \cdot b
% ,\enskip
% \Delta z = \mState_{t-1}^{z} - \mState_{t}^z
% ,\enskip
% b \in \R
% \enspace .
% \label{eq:baroTransition}
% \end{equation}