I understand that I must figure out WHY these jumps happen in the first place, but as I’m trying to locate this subtle issue, it’s nice to have a mechanism that switches smoothly between mags in case this happens.
Yeah if you could figure that out it would be great, I have seen them for many years. We solved it by low pass filtering the norm and rejecting the mag measurements that fall outside of a thresholds.
It is not obvious to me why woud an average of 2 independent measurements be worse estimate than a measurement from a single sensor
Can you please give an explanation or point to some article/video that explains that?
It really depends on what you mean with “worse”. E.g. say you have two mags both giving identical perfect data. Now you take the mean value and push that into the EKF. You gained zero accuracy but double the probability of a sensor failure. But what I was talking about above regarding the GPS is the following:
Say you have two GPS modules currently reporting a position estimate 10 meters apart with the same accuracy. Just taking the mean value would give a blended solution right in the middle. Now you are flying around so the reported accuracy of the sensors start to rapidly change, and the relative weight of the modules jumps back and forth. The blended GPS solution would then move around completely uncorrelated to the actual GPS velocity measurements and deteriorate the quality of the EKF state estimate.