Created
March 5, 2017 00:39
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| /* Kalman Filter */ | |
| float Qvalue; | |
| long locationTimeInMillis = (long)(location.getElapsedRealtimeNanos() / 1000000); | |
| long elapsedTimeInMillis = locationTimeInMillis - runStartTimeInMillis; | |
| if(currentSpeed == 0.0f){ | |
| Qvalue = 3.0f; //3 meters per second | |
| }else{ | |
| Qvalue = currentSpeed; // meters per second | |
| } | |
| kalmanFilter.Process(location.getLatitude(), location.getLongitude(), location.getAccuracy(), elapsedTimeInMillis, Qvalue); | |
| double predictedLat = kalmanFilter.get_lat(); | |
| double predictedLng = kalmanFilter.get_lng(); | |
| Location predictedLocation = new Location("");//provider name is unecessary | |
| predictedLocation.setLatitude(predictedLat);//your coords of course | |
| predictedLocation.setLongitude(predictedLng); | |
| float predictedDeltaInMeters = predictedLocation.distanceTo(location); | |
| if(predictedDeltaInMeters > 60){ | |
| Log.d(TAG, "Kalman Filter detects mal GPS, we should probably remove this from track"); | |
| kalmanFilter.consecutiveRejectCount += 1; | |
| if(kalmanFilter.consecutiveRejectCount > 3){ | |
| kalmanFilter = new KalmanLatLong(3); //reset Kalman Filter if it rejects more than 3 times in raw. | |
| } | |
| kalmanNGLocationList.add(location); | |
| return false; | |
| }else{ | |
| kalmanFilter.consecutiveRejectCount = 0; | |
| } |
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