HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

solaESKF.cpp@67:0453896df0d6, 2021-11-18 (annotated)

Committer:
NaotoMorita
Date:
Thu Nov 18 08:48:14 2021 +0000
Revision:
67:0453896df0d6
Parent:
64:f5b6256726f3 
no mag bias

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 44:7d82e63b6a86 1 #include "solaESKF.hpp"
NaotoMorita 54:cd514d9d4b19 2
NaotoMorita 19:3fae66745363 3
NaotoMorita 19:3fae66745363 4
NaotoMorita 44:7d82e63b6a86 5 solaESKF::solaESKF()
NaotoMorita 61:5e5c4fe12440 6 :pihat(3,1),vihat(3,1),qhat(4,1),accBias(3,1),gyroBias(3,1),gravity(3,1),errState(16,1),Phat(16,16),Q(16,16)
NaotoMorita 19:3fae66745363 7 {
NaotoMorita 46:15988dc41923 8 pihat << 0.0f << 0.0f << 0.0f;
NaotoMorita 46:15988dc41923 9 vihat << 0.0f << 0.0f << 0.0f;
NaotoMorita 46:15988dc41923 10 qhat << 1.0f << 0.0f << 0.0f << 0.0f;
NaotoMorita 46:15988dc41923 11 accBias << 0.0f << 0.0f << 0.0f;
NaotoMorita 46:15988dc41923 12 gyroBias << 0.0f << 0.0f << 0.0f;
NaotoMorita 46:15988dc41923 13 gravity << 0.0f << 0.0f << 9.8f;
NaotoMorita 58:93ba28cf5cb3 14
NaotoMorita 58:93ba28cf5cb3 15 nState = errState.getRows();
NaotoMorita 46:15988dc41923 16
NaotoMorita 58:93ba28cf5cb3 17 for (int i = 1; i < nState+1; i++){
NaotoMorita 46:15988dc41923 18 errState(i,1) = 0.0f;
NaotoMorita 58:93ba28cf5cb3 19 for (int j = 1; j < nState+1; j++){
NaotoMorita 46:15988dc41923 20 Phat(i,j) = 0.0f;
NaotoMorita 46:15988dc41923 21 Q(i,j) = 0.0f;
NaotoMorita 46:15988dc41923 22 }
NaotoMorita 46:15988dc41923 23 }
NaotoMorita 44:7d82e63b6a86 24
NaotoMorita 46:15988dc41923 25 setBlockDiag(Phat,0.1f,1,3);//position
NaotoMorita 46:15988dc41923 26 setBlockDiag(Phat,0.1f,4,6);//velocity
NaotoMorita 46:15988dc41923 27 setBlockDiag(Phat,0.1f,7,9);//angle error
NaotoMorita 47:2467de40951f 28 setBlockDiag(Phat,0.1f,10,12);//acc bias
NaotoMorita 47:2467de40951f 29 setBlockDiag(Phat,0.1f,13,15);//gyro bias
NaotoMorita 61:5e5c4fe12440 30 setBlockDiag(Phat,0.00000001f,16,16);//gravity
NaotoMorita 47:2467de40951f 31 setBlockDiag(Q,0.00025f,4,6);//velocity
NaotoMorita 55:21611d4cf7e8 32 setBlockDiag(Q,0.005f/57.0f,7,9);//angle error
NaotoMorita 46:15988dc41923 33 setBlockDiag(Q,0.001f,10,12);//acc bias
NaotoMorita 61:5e5c4fe12440 34 setBlockDiag(Q,0.001f,13,15);//gyro bias//positionとgravityはQ項なし
NaotoMorita 19:3fae66745363 35
NaotoMorita 19:3fae66745363 36
NaotoMorita 19:3fae66745363 37 }
NaotoMorita 19:3fae66745363 38
NaotoMorita 47:2467de40951f 39
NaotoMorita 44:7d82e63b6a86 40 void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt)
NaotoMorita 19:3fae66745363 41 {
NaotoMorita 44:7d82e63b6a86 42 Matrix gyrom = gyro - gyroBias;
NaotoMorita 44:7d82e63b6a86 43 Matrix accm = acc - accBias;
NaotoMorita 44:7d82e63b6a86 44
NaotoMorita 44:7d82e63b6a86 45 Matrix qint(4,1);
NaotoMorita 46:15988dc41923 46 qint << 1.0f << 0.5f*gyrom(1,1)*att_dt << 0.5f*gyrom(2,1)*att_dt << 0.5f*gyrom(3,1)*att_dt;
NaotoMorita 44:7d82e63b6a86 47 qhat = quatmultiply(qhat,qint);
NaotoMorita 19:3fae66745363 48 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 49 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 50
NaotoMorita 23:1509648c2318 51 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 52 computeDcm(dcm, qhat);
NaotoMorita 46:15988dc41923 53 Matrix accned = dcm*accm+gravity;
NaotoMorita 44:7d82e63b6a86 54 vihat += accned*att_dt;
NaotoMorita 44:7d82e63b6a86 55
NaotoMorita 44:7d82e63b6a86 56 pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt;
NaotoMorita 19:3fae66745363 57 }
NaotoMorita 19:3fae66745363 58
NaotoMorita 44:7d82e63b6a86 59 void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt)
NaotoMorita 23:1509648c2318 60 {
NaotoMorita 44:7d82e63b6a86 61 Matrix gyrom = gyro - gyroBias;
NaotoMorita 44:7d82e63b6a86 62 Matrix accm = acc - accBias;
NaotoMorita 23:1509648c2318 63
NaotoMorita 23:1509648c2318 64 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 65 computeDcm(dcm, qhat);
NaotoMorita 47:2467de40951f 66 Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1));
NaotoMorita 44:7d82e63b6a86 67
NaotoMorita 47:2467de40951f 68 Matrix A(nState,nState);
NaotoMorita 44:7d82e63b6a86 69 //position
NaotoMorita 47:2467de40951f 70 A(1,4) = 1.0f;
NaotoMorita 47:2467de40951f 71 A(2,5) = 1.0f;
NaotoMorita 47:2467de40951f 72 A(3,6) = 1.0f;
NaotoMorita 47:2467de40951f 73
NaotoMorita 47:2467de40951f 74 //velocity
NaotoMorita 46:15988dc41923 75 for (int i = 1; i < 4; i++){
NaotoMorita 46:15988dc41923 76 for (int j = 1; j < 4; j++){
NaotoMorita 47:2467de40951f 77 A(i+3,j+6) = a2v(i,j);
NaotoMorita 47:2467de40951f 78 A(i+3,j+9) = -dcm(i,j);
NaotoMorita 47:2467de40951f 79
NaotoMorita 23:1509648c2318 80 }
NaotoMorita 23:1509648c2318 81 }
NaotoMorita 59:03fe5e16a33c 82 A(6,16) = 1.0f;
NaotoMorita 23:1509648c2318 83
NaotoMorita 44:7d82e63b6a86 84 //angulat error
NaotoMorita 47:2467de40951f 85 A(7,8) = gyrom(3,1);
NaotoMorita 47:2467de40951f 86 A(7,9) = -gyrom(2,1);
NaotoMorita 47:2467de40951f 87 A(8,7) = -gyrom(3,1);
NaotoMorita 47:2467de40951f 88 A(8,9) = gyrom(1,1);
NaotoMorita 47:2467de40951f 89 A(9,7) = gyrom(2,1);
NaotoMorita 47:2467de40951f 90 A(9,8) = -gyrom(1,1);
NaotoMorita 47:2467de40951f 91 A(7,13) = -1.0f;
NaotoMorita 47:2467de40951f 92 A(8,14) = -1.0f;
NaotoMorita 47:2467de40951f 93 A(9,15) = -1.0f;
NaotoMorita 25:07ac5c6cd61c 94
NaotoMorita 47:2467de40951f 95
NaotoMorita 47:2467de40951f 96 Matrix Fx = MatrixMath::Eye(nState) + A * att_dt;// + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 59:03fe5e16a33c 97 for (int i = 1; i < nState+1; i++){
NaotoMorita 59:03fe5e16a33c 98 if(i>3 && i<10){
NaotoMorita 59:03fe5e16a33c 99 Q(i,i) *=att_dt;
NaotoMorita 59:03fe5e16a33c 100 }else if(i>9 && i<16){
NaotoMorita 59:03fe5e16a33c 101 Q(i,i) *= att_dt*att_dt;
NaotoMorita 59:03fe5e16a33c 102 }else if(i>16 && i<nState+1){
NaotoMorita 59:03fe5e16a33c 103 Q(i,i) *=att_dt*att_dt;
NaotoMorita 59:03fe5e16a33c 104 }else{
NaotoMorita 59:03fe5e16a33c 105 Q(i,i) = 0.0f;
NaotoMorita 59:03fe5e16a33c 106 }
NaotoMorita 59:03fe5e16a33c 107 }
NaotoMorita 44:7d82e63b6a86 108 errState = Fx * errState;
NaotoMorita 59:03fe5e16a33c 109 Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Q;
NaotoMorita 25:07ac5c6cd61c 110 }
NaotoMorita 25:07ac5c6cd61c 111
NaotoMorita 61:5e5c4fe12440 112 void solaESKF::updateAcc(Matrix acc,Matrix R)
NaotoMorita 46:15988dc41923 113 {
NaotoMorita 46:15988dc41923 114 Matrix accm = acc - accBias;
NaotoMorita 56:c10f1168bd4a 115 Matrix dcm(3,3);
NaotoMorita 56:c10f1168bd4a 116 computeDcm(dcm, qhat);
NaotoMorita 56:c10f1168bd4a 117 Matrix tdcm = MatrixMath::Transpose(dcm);
NaotoMorita 46:15988dc41923 118 Matrix tdcm_g = tdcm*gravity;
NaotoMorita 59:03fe5e16a33c 119 Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1));
NaotoMorita 46:15988dc41923 120
NaotoMorita 61:5e5c4fe12440 121 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 122 for (int i = 1; i < 4; i++){
NaotoMorita 59:03fe5e16a33c 123 for (int j = 1; j < 4; j++){
NaotoMorita 59:03fe5e16a33c 124 H(i,j+6) = rotgrav(i,j);
NaotoMorita 46:15988dc41923 125 }
NaotoMorita 59:03fe5e16a33c 126 H(i,16) = tdcm(i,3);
NaotoMorita 58:93ba28cf5cb3 127 }
NaotoMorita 56:c10f1168bd4a 128
NaotoMorita 46:15988dc41923 129 H(1,10) = -1.0f;
NaotoMorita 46:15988dc41923 130 H(2,11) = -1.0f;
NaotoMorita 46:15988dc41923 131 H(3,12) = -1.0f;
NaotoMorita 59:03fe5e16a33c 132
NaotoMorita 61:5e5c4fe12440 133 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 61:5e5c4fe12440 134 Matrix zacc = -accm-tdcm*gravity;
NaotoMorita 61:5e5c4fe12440 135 Matrix z(3,1);
NaotoMorita 61:5e5c4fe12440 136 z << zacc(1,1) << zacc(2,1) << zacc(3,1);
NaotoMorita 61:5e5c4fe12440 137 errState = K * z;
NaotoMorita 61:5e5c4fe12440 138 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 61:5e5c4fe12440 139
NaotoMorita 61:5e5c4fe12440 140 fuseErr2Nominal();
NaotoMorita 61:5e5c4fe12440 141 }
NaotoMorita 61:5e5c4fe12440 142 void solaESKF::updateMag(Matrix mag,Matrix R)
NaotoMorita 61:5e5c4fe12440 143 {
NaotoMorita 61:5e5c4fe12440 144 Matrix magm = mag;
NaotoMorita 61:5e5c4fe12440 145 Matrix dcm(3,3);
NaotoMorita 61:5e5c4fe12440 146 computeDcm(dcm, qhat);
NaotoMorita 61:5e5c4fe12440 147 Matrix tdcm = MatrixMath::Transpose(dcm);
NaotoMorita 61:5e5c4fe12440 148 Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1));
NaotoMorita 61:5e5c4fe12440 149
NaotoMorita 61:5e5c4fe12440 150 Matrix H(3,nState);
NaotoMorita 64:f5b6256726f3 151 int nH = H.getRows();
NaotoMorita 59:03fe5e16a33c 152 Matrix magned = dcm*magm;
NaotoMorita 59:03fe5e16a33c 153 float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1));
NaotoMorita 61:5e5c4fe12440 154 float hz = sqrt(magned(3,1)*magned(3,1));
NaotoMorita 61:5e5c4fe12440 155
NaotoMorita 61:5e5c4fe12440 156
NaotoMorita 67:0453896df0d6 157 for(int j = 3; j < 4; j++){
NaotoMorita 61:5e5c4fe12440 158 H(1,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx;
NaotoMorita 61:5e5c4fe12440 159 H(2,j+6) = rotmag(2,j);
NaotoMorita 61:5e5c4fe12440 160 H(3,j+6) = rotmag(3,j)-(rotmag(3,j))/hz;
NaotoMorita 61:5e5c4fe12440 161 }
NaotoMorita 61:5e5c4fe12440 162
NaotoMorita 67:0453896df0d6 163 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 64:f5b6256726f3 164 Matrix z(nH,1);
NaotoMorita 61:5e5c4fe12440 165 z << -(magned(1,1) - hx) << -magned(2,1) <<-(magned(3,1) - hz) ;
NaotoMorita 64:f5b6256726f3 166 //twelite.printf("%f %f %f\r\n",z(1,1),z(2,1));
NaotoMorita 46:15988dc41923 167 errState = K * z;
NaotoMorita 50:dadad0567349 168 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 58:93ba28cf5cb3 169
NaotoMorita 58:93ba28cf5cb3 170 fuseErr2Nominal();
NaotoMorita 58:93ba28cf5cb3 171 }
NaotoMorita 58:93ba28cf5cb3 172
NaotoMorita 58:93ba28cf5cb3 173
NaotoMorita 59:03fe5e16a33c 174 void solaESKF::updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R)
NaotoMorita 58:93ba28cf5cb3 175 {
NaotoMorita 59:03fe5e16a33c 176 Matrix H(5,nState);
NaotoMorita 46:15988dc41923 177 H(1,1) = 1.0f;
NaotoMorita 46:15988dc41923 178 H(2,2) = 1.0f;
NaotoMorita 56:c10f1168bd4a 179 H(3,3) = 1.0f;
NaotoMorita 56:c10f1168bd4a 180 H(4,4) = 1.0f;
NaotoMorita 56:c10f1168bd4a 181 H(5,5) = 1.0f;
NaotoMorita 53:8b551358a7e3 182 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 183 Matrix z(5,1);
NaotoMorita 59:03fe5e16a33c 184 z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1) << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1);
NaotoMorita 58:93ba28cf5cb3 185 errState = K * z;
NaotoMorita 58:93ba28cf5cb3 186 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 58:93ba28cf5cb3 187 fuseErr2Nominal();
NaotoMorita 58:93ba28cf5cb3 188 }
NaotoMorita 58:93ba28cf5cb3 189
NaotoMorita 46:15988dc41923 190
NaotoMorita 44:7d82e63b6a86 191 Matrix solaESKF::computeAngles()
NaotoMorita 25:07ac5c6cd61c 192 {
NaotoMorita 25:07ac5c6cd61c 193
NaotoMorita 44:7d82e63b6a86 194 Matrix euler(3,1);
NaotoMorita 44:7d82e63b6a86 195 euler(1,1) = atan2f(qhat(1,1)*qhat(2,1) + qhat(3,1)*qhat(4,1), 0.5f - qhat(2,1)*qhat(2,1) - qhat(3,1)*qhat(3,1));
NaotoMorita 44:7d82e63b6a86 196 euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1)));
NaotoMorita 44:7d82e63b6a86 197 euler(3,1) = atan2f(qhat(2,1)*qhat(3,1) + qhat(1,1)*qhat(4,1), 0.5f - qhat(3,1)*qhat(3,1) - qhat(4,1)*qhat(4,1));
NaotoMorita 44:7d82e63b6a86 198 return euler;
NaotoMorita 19:3fae66745363 199 }
NaotoMorita 19:3fae66745363 200
NaotoMorita 21:d6079def0473 201
NaotoMorita 44:7d82e63b6a86 202 void solaESKF::fuseErr2Nominal()
NaotoMorita 19:3fae66745363 203 {
NaotoMorita 44:7d82e63b6a86 204 //position
NaotoMorita 44:7d82e63b6a86 205 pihat(1,1) += errState(1,1);
NaotoMorita 44:7d82e63b6a86 206 pihat(2,1) += errState(2,1);
NaotoMorita 44:7d82e63b6a86 207 pihat(3,1) += errState(3,1);
NaotoMorita 44:7d82e63b6a86 208
NaotoMorita 44:7d82e63b6a86 209 //velocity
NaotoMorita 44:7d82e63b6a86 210 vihat(1,1) += errState(4,1);
NaotoMorita 44:7d82e63b6a86 211 vihat(2,1) += errState(5,1);
NaotoMorita 44:7d82e63b6a86 212 vihat(3,1) += errState(6,1);
NaotoMorita 44:7d82e63b6a86 213
NaotoMorita 44:7d82e63b6a86 214 //angle error
NaotoMorita 19:3fae66745363 215 Matrix qerr(4,1);
NaotoMorita 46:15988dc41923 216 qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1);
NaotoMorita 19:3fae66745363 217 qhat = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 218 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 219 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 220
NaotoMorita 44:7d82e63b6a86 221 //acc bias
NaotoMorita 44:7d82e63b6a86 222 accBias(1,1) += errState(10,1);
NaotoMorita 44:7d82e63b6a86 223 accBias(2,1) += errState(11,1);
NaotoMorita 44:7d82e63b6a86 224 accBias(3,1) += errState(12,1);
NaotoMorita 44:7d82e63b6a86 225
NaotoMorita 44:7d82e63b6a86 226 //gyro bias
NaotoMorita 44:7d82e63b6a86 227 gyroBias(1,1) += errState(13,1);
NaotoMorita 44:7d82e63b6a86 228 gyroBias(2,1) += errState(14,1);
NaotoMorita 44:7d82e63b6a86 229 gyroBias(3,1) += errState(15,1);
NaotoMorita 44:7d82e63b6a86 230
NaotoMorita 44:7d82e63b6a86 231 //gravity bias
NaotoMorita 59:03fe5e16a33c 232 gravity(1,1) = 0.0f;
NaotoMorita 59:03fe5e16a33c 233 gravity(2,1) = 0.0f;
NaotoMorita 59:03fe5e16a33c 234 gravity(3,1) += errState(16,1);
NaotoMorita 47:2467de40951f 235
NaotoMorita 56:c10f1168bd4a 236
NaotoMorita 58:93ba28cf5cb3 237 for (int i = 1; i < nState+1; i++){
NaotoMorita 47:2467de40951f 238 errState(i,1) = 0.0f;
NaotoMorita 47:2467de40951f 239 }
NaotoMorita 44:7d82e63b6a86 240
NaotoMorita 19:3fae66745363 241 }
NaotoMorita 19:3fae66745363 242
NaotoMorita 44:7d82e63b6a86 243 Matrix solaESKF::quatmultiply(Matrix p, Matrix q)
NaotoMorita 19:3fae66745363 244 {
NaotoMorita 44:7d82e63b6a86 245
NaotoMorita 19:3fae66745363 246 Matrix qout(4,1);
NaotoMorita 44:7d82e63b6a86 247 qout(1,1) = p(1,1)*q(1,1) - p(2,1)*q(2,1) - p(3,1)*q(3,1) - p(4,1)*q(4,1);
NaotoMorita 44:7d82e63b6a86 248 qout(2,1) = p(1,1)*q(2,1) + p(2,1)*q(1,1) + p(3,1)*q(4,1) - p(4,1)*q(3,1);
NaotoMorita 44:7d82e63b6a86 249 qout(3,1) = p(1,1)*q(3,1) - p(2,1)*q(4,1) + p(3,1)*q(1,1) + p(4,1)*q(2,1);
NaotoMorita 44:7d82e63b6a86 250 qout(4,1) = p(1,1)*q(4,1) + p(2,1)*q(3,1) - p(3,1)*q(2,1) + p(4,1)*q(1,1);
NaotoMorita 19:3fae66745363 251 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout));
NaotoMorita 19:3fae66745363 252 qout *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 253 return qout;
NaotoMorita 19:3fae66745363 254 }
NaotoMorita 19:3fae66745363 255
NaotoMorita 44:7d82e63b6a86 256 void solaESKF::computeDcm(Matrix& dcm, Matrix quat)
NaotoMorita 19:3fae66745363 257 {
NaotoMorita 19:3fae66745363 258
NaotoMorita 44:7d82e63b6a86 259 dcm(1,1) = quat(1,1)*quat(1,1) + quat(2,1)*quat(2,1) - quat(3,1)*quat(3,1) - quat(4,1)*quat(4,1);
NaotoMorita 44:7d82e63b6a86 260 dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1));
NaotoMorita 44:7d82e63b6a86 261 dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1));
NaotoMorita 44:7d82e63b6a86 262 dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1));
NaotoMorita 44:7d82e63b6a86 263 dcm(2,2) = quat(1,1)*quat(1,1) - quat(2,1)*quat(2,1) + quat(3,1)*quat(3,1) - quat(4,1)*quat(4,1);
NaotoMorita 44:7d82e63b6a86 264 dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1));
NaotoMorita 44:7d82e63b6a86 265 dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1));
NaotoMorita 44:7d82e63b6a86 266 dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1));
NaotoMorita 44:7d82e63b6a86 267 dcm(3,3) = quat(1,1)*quat(1,1) - quat(2,1)*quat(2,1) - quat(3,1)*quat(3,1) + quat(4,1)*quat(4,1);
NaotoMorita 19:3fae66745363 268
NaotoMorita 19:3fae66745363 269 }
NaotoMorita 19:3fae66745363 270
NaotoMorita 44:7d82e63b6a86 271 void solaESKF::setQhat(float ex,float ey,float ez)
NaotoMorita 44:7d82e63b6a86 272 {
NaotoMorita 44:7d82e63b6a86 273 float cos_z_2 = cosf(0.5f*ez);
NaotoMorita 44:7d82e63b6a86 274 float cos_y_2 = cosf(0.5f*ey);
NaotoMorita 44:7d82e63b6a86 275 float cos_x_2 = cosf(0.5f*ex);
NaotoMorita 19:3fae66745363 276
NaotoMorita 44:7d82e63b6a86 277 float sin_z_2 = sinf(0.5f*ez);
NaotoMorita 44:7d82e63b6a86 278 float sin_y_2 = sinf(0.5f*ey);
NaotoMorita 44:7d82e63b6a86 279 float sin_x_2 = sinf(0.5f*ex);
NaotoMorita 19:3fae66745363 280
NaotoMorita 19:3fae66745363 281 // and now compute quaternion
NaotoMorita 19:3fae66745363 282 qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 283 qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2;
NaotoMorita 19:3fae66745363 284 qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 285 qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 286 }
NaotoMorita 19:3fae66745363 287
NaotoMorita 47:2467de40951f 288
NaotoMorita 47:2467de40951f 289
NaotoMorita 44:7d82e63b6a86 290 void solaESKF::setGravity(float gx,float gy,float gz)
NaotoMorita 23:1509648c2318 291 {
NaotoMorita 44:7d82e63b6a86 292 gravity(1,1) = gx;
NaotoMorita 44:7d82e63b6a86 293 gravity(2,1) = gy;
NaotoMorita 44:7d82e63b6a86 294 gravity(3,1) = gz;
NaotoMorita 23:1509648c2318 295 }
NaotoMorita 47:2467de40951f 296 Matrix solaESKF::getPihat()
NaotoMorita 47:2467de40951f 297 {
NaotoMorita 47:2467de40951f 298 return pihat;
NaotoMorita 47:2467de40951f 299 }
NaotoMorita 47:2467de40951f 300 Matrix solaESKF::getVihat()
NaotoMorita 47:2467de40951f 301 {
NaotoMorita 47:2467de40951f 302 return vihat;
NaotoMorita 47:2467de40951f 303 }
NaotoMorita 47:2467de40951f 304 Matrix solaESKF::getQhat()
NaotoMorita 47:2467de40951f 305 {
NaotoMorita 47:2467de40951f 306 return qhat;
NaotoMorita 47:2467de40951f 307 }
NaotoMorita 47:2467de40951f 308 Matrix solaESKF::getAccBias()
NaotoMorita 47:2467de40951f 309 {
NaotoMorita 47:2467de40951f 310 return accBias;
NaotoMorita 47:2467de40951f 311 }
NaotoMorita 47:2467de40951f 312 Matrix solaESKF::getGyroBias()
NaotoMorita 47:2467de40951f 313 {
NaotoMorita 47:2467de40951f 314 return gyroBias;
NaotoMorita 47:2467de40951f 315 }
NaotoMorita 47:2467de40951f 316 Matrix solaESKF::getGravity()
NaotoMorita 47:2467de40951f 317 {
NaotoMorita 47:2467de40951f 318 return gravity;
NaotoMorita 47:2467de40951f 319 }
NaotoMorita 47:2467de40951f 320 Matrix solaESKF::getErrState()
NaotoMorita 47:2467de40951f 321 {
NaotoMorita 47:2467de40951f 322 return errState;
NaotoMorita 47:2467de40951f 323 }
NaotoMorita 23:1509648c2318 324
NaotoMorita 47:2467de40951f 325 void solaESKF::setPhatPosition(float val)
NaotoMorita 47:2467de40951f 326 {
NaotoMorita 47:2467de40951f 327 setBlockDiag(Phat,val,1,3);
NaotoMorita 47:2467de40951f 328 }
NaotoMorita 47:2467de40951f 329 void solaESKF::setPhatVelocity(float val)
NaotoMorita 47:2467de40951f 330 {
NaotoMorita 47:2467de40951f 331 setBlockDiag(Phat,val,4,6);
NaotoMorita 47:2467de40951f 332 }
NaotoMorita 47:2467de40951f 333 void solaESKF::setPhatAngleError(float val)
NaotoMorita 47:2467de40951f 334 {
NaotoMorita 47:2467de40951f 335 setBlockDiag(Phat,val,7,9);
NaotoMorita 47:2467de40951f 336 }
NaotoMorita 47:2467de40951f 337 void solaESKF::setPhatAccBias(float val)
NaotoMorita 47:2467de40951f 338 {
NaotoMorita 47:2467de40951f 339 setBlockDiag(Phat,val,10,12);
NaotoMorita 47:2467de40951f 340 }
NaotoMorita 47:2467de40951f 341 void solaESKF::setPhatGyroBias(float val)
NaotoMorita 47:2467de40951f 342 {
NaotoMorita 47:2467de40951f 343 setBlockDiag(Phat,val,13,15);
NaotoMorita 47:2467de40951f 344 }
NaotoMorita 47:2467de40951f 345 void solaESKF::setPhatGravity(float val)
NaotoMorita 47:2467de40951f 346 {
NaotoMorita 59:03fe5e16a33c 347 setBlockDiag(Phat,val,16,16);
NaotoMorita 47:2467de40951f 348 }
NaotoMorita 47:2467de40951f 349
NaotoMorita 47:2467de40951f 350
NaotoMorita 47:2467de40951f 351 void solaESKF::setQVelocity(float val)
NaotoMorita 47:2467de40951f 352 {
NaotoMorita 47:2467de40951f 353 setBlockDiag(Q,val,4,6);
NaotoMorita 47:2467de40951f 354 }
NaotoMorita 47:2467de40951f 355 void solaESKF::setQAngleError(float val)
NaotoMorita 47:2467de40951f 356 {
NaotoMorita 47:2467de40951f 357 setBlockDiag(Q,val,7,9);
NaotoMorita 47:2467de40951f 358 }
NaotoMorita 47:2467de40951f 359 void solaESKF::setQAccBias(float val)
NaotoMorita 47:2467de40951f 360 {
NaotoMorita 47:2467de40951f 361 setBlockDiag(Q,val,10,12);
NaotoMorita 47:2467de40951f 362 }
NaotoMorita 47:2467de40951f 363 void solaESKF::setQGyroBias(float val)
NaotoMorita 47:2467de40951f 364 {
NaotoMorita 47:2467de40951f 365 setBlockDiag(Q,val,13,15);
NaotoMorita 47:2467de40951f 366 }
NaotoMorita 19:3fae66745363 367
NaotoMorita 19:3fae66745363 368
NaotoMorita 44:7d82e63b6a86 369 void solaESKF::setDiag(Matrix& mat, float val){
NaotoMorita 44:7d82e63b6a86 370 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 44:7d82e63b6a86 371 mat(i,i) = val;
NaotoMorita 22:7d84b8bc20b4 372 }
NaotoMorita 22:7d84b8bc20b4 373 }
NaotoMorita 22:7d84b8bc20b4 374
NaotoMorita 45:df4618814803 375 void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){
NaotoMorita 44:7d82e63b6a86 376 for (int i = startIndex; i < endIndex+1; i++){
NaotoMorita 44:7d82e63b6a86 377 mat(i,i) = val;
NaotoMorita 22:7d84b8bc20b4 378 }
NaotoMorita 22:7d84b8bc20b4 379 }
osaka 51:a5af3b280d23 380
NaotoMorita 58:93ba28cf5cb3 381 void solaESKF::setPihat(float pi_x, float pi_y)
osaka 51:a5af3b280d23 382 {
NaotoMorita 56:c10f1168bd4a 383 pihat(1,1) = pi_x;
NaotoMorita 56:c10f1168bd4a 384 pihat(2,1) = pi_y;
NaotoMorita 58:93ba28cf5cb3 385 //pihat(3,1) = pi_z;
NaotoMorita 56:c10f1168bd4a 386 }
NaotoMorita 56:c10f1168bd4a 387 /*
NaotoMorita 56:c10f1168bd4a 388 void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R)
NaotoMorita 56:c10f1168bd4a 389 {
NaotoMorita 56:c10f1168bd4a 390 Matrix accm = acc - accBias;
NaotoMorita 56:c10f1168bd4a 391 Matrix tdcm(3,3);
NaotoMorita 56:c10f1168bd4a 392 computeDcm(tdcm, qhat);
NaotoMorita 56:c10f1168bd4a 393 tdcm = MatrixMath::Transpose(tdcm);
NaotoMorita 56:c10f1168bd4a 394 Matrix tdcm_g = tdcm*gravity;
NaotoMorita 56:c10f1168bd4a 395 Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1));
NaotoMorita 56:c10f1168bd4a 396
NaotoMorita 56:c10f1168bd4a 397 Matrix H(4,nState);
NaotoMorita 56:c10f1168bd4a 398 for (int i = 1; i < 4; i++){
NaotoMorita 56:c10f1168bd4a 399 for (int j = 1; j < 4; j++){
NaotoMorita 56:c10f1168bd4a 400 H(i,j+6) = a2v(i,j);
NaotoMorita 56:c10f1168bd4a 401 H(i,j+15) = tdcm(i,j);
NaotoMorita 56:c10f1168bd4a 402 }
NaotoMorita 56:c10f1168bd4a 403 }
NaotoMorita 56:c10f1168bd4a 404 H(1,10) = -1.0f;
NaotoMorita 56:c10f1168bd4a 405 H(2,11) = -1.0f;
NaotoMorita 56:c10f1168bd4a 406 H(3,12) = -1.0f;
NaotoMorita 56:c10f1168bd4a 407 H(4,3) = 1.0f;
NaotoMorita 56:c10f1168bd4a 408
NaotoMorita 56:c10f1168bd4a 409 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 56:c10f1168bd4a 410 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 56:c10f1168bd4a 411 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 56:c10f1168bd4a 412 Matrix zacc = -accm-tdcm*gravity;
NaotoMorita 56:c10f1168bd4a 413 Matrix z(4,1);
NaotoMorita 56:c10f1168bd4a 414 z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1);
NaotoMorita 56:c10f1168bd4a 415 errState = K * z;
NaotoMorita 56:c10f1168bd4a 416 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 56:c10f1168bd4a 417 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 418 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 419 fuseErr2Nominal();
NaotoMorita 56:c10f1168bd4a 420 }
NaotoMorita 56:c10f1168bd4a 421
NaotoMorita 56:c10f1168bd4a 422 void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R)
NaotoMorita 56:c10f1168bd4a 423 {
NaotoMorita 56:c10f1168bd4a 424 Matrix gyrom = gyro - gyroBias;
NaotoMorita 56:c10f1168bd4a 425 Matrix dcm(3,3);
NaotoMorita 56:c10f1168bd4a 426 computeDcm(dcm, qhat);
NaotoMorita 56:c10f1168bd4a 427 Matrix a2v = dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1));
NaotoMorita 56:c10f1168bd4a 428
NaotoMorita 56:c10f1168bd4a 429 Matrix H(2,nState);
NaotoMorita 56:c10f1168bd4a 430 for (int i = 1; i < 3; i++){
NaotoMorita 56:c10f1168bd4a 431 for (int j = 1; j < 4; j++){
NaotoMorita 56:c10f1168bd4a 432 H(i,j+6) = a2v(i,j);
NaotoMorita 56:c10f1168bd4a 433 H(i,j+12) = -dcm(i,j);
NaotoMorita 56:c10f1168bd4a 434 }
NaotoMorita 56:c10f1168bd4a 435 }
NaotoMorita 56:c10f1168bd4a 436 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 56:c10f1168bd4a 437 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A));
NaotoMorita 56:c10f1168bd4a 438 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 56:c10f1168bd4a 439
NaotoMorita 56:c10f1168bd4a 440 Matrix z3 = -dcm*gyrom;
NaotoMorita 56:c10f1168bd4a 441 Matrix z(2,1);
NaotoMorita 56:c10f1168bd4a 442 z << z3(1,1) << z3(2,1);
NaotoMorita 56:c10f1168bd4a 443 errState = K * z;
NaotoMorita 56:c10f1168bd4a 444 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 56:c10f1168bd4a 445 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 446 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 447 fuseErr2Nominal();
NaotoMorita 56:c10f1168bd4a 448 }
NaotoMorita 56:c10f1168bd4a 449 void solaESKF::updateMag(Matrix mag, Matrix R)
NaotoMorita 56:c10f1168bd4a 450 {
NaotoMorita 56:c10f1168bd4a 451 Matrix dcm(3,3);
NaotoMorita 56:c10f1168bd4a 452 computeDcm(dcm, qhat);
NaotoMorita 56:c10f1168bd4a 453 Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1));
NaotoMorita 56:c10f1168bd4a 454
NaotoMorita 56:c10f1168bd4a 455 Matrix H(2,nState);
NaotoMorita 56:c10f1168bd4a 456 for (int i = 1; i < 3; i++){
NaotoMorita 56:c10f1168bd4a 457 for (int j = 1; j < 4; j++){
NaotoMorita 56:c10f1168bd4a 458 H(i,j+6) = a2v(i,j);
NaotoMorita 56:c10f1168bd4a 459 }
NaotoMorita 56:c10f1168bd4a 460 }
NaotoMorita 56:c10f1168bd4a 461 H(1,19) = 1.0f;
NaotoMorita 56:c10f1168bd4a 462 //H(3,20) = 1.0f;
NaotoMorita 56:c10f1168bd4a 463
NaotoMorita 56:c10f1168bd4a 464 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 56:c10f1168bd4a 465 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 56:c10f1168bd4a 466 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 56:c10f1168bd4a 467 Matrix zmag = -dcm*mag-magField;
NaotoMorita 56:c10f1168bd4a 468 Matrix z(2,1);
NaotoMorita 56:c10f1168bd4a 469 z << zmag(1,1) << zmag(2,1);
NaotoMorita 56:c10f1168bd4a 470 errState = K * z;
NaotoMorita 56:c10f1168bd4a 471 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 56:c10f1168bd4a 472 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 473 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 474 fuseErr2Nominal();
NaotoMorita 56:c10f1168bd4a 475 }
NaotoMorita 59:03fe5e16a33c 476 void solaESKF::updateMag(Matrix mag,float palt, Matrix R)
NaotoMorita 59:03fe5e16a33c 477 {
NaotoMorita 59:03fe5e16a33c 478 Matrix dcm(3,3);
NaotoMorita 59:03fe5e16a33c 479 computeDcm(dcm, qhat);
NaotoMorita 59:03fe5e16a33c 480 Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1));
NaotoMorita 59:03fe5e16a33c 481
NaotoMorita 59:03fe5e16a33c 482 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 483 for (int i = 1; i < 3; i++){
NaotoMorita 59:03fe5e16a33c 484 for (int j = 1; j < 4; j++){
NaotoMorita 59:03fe5e16a33c 485 H(i,j+6) = a2v(i,j);
NaotoMorita 59:03fe5e16a33c 486 }
NaotoMorita 59:03fe5e16a33c 487 }
NaotoMorita 59:03fe5e16a33c 488 H(1,19) = 1.0f;
NaotoMorita 59:03fe5e16a33c 489 H(3,3) = 1.0f;
NaotoMorita 59:03fe5e16a33c 490 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 59:03fe5e16a33c 491 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 59:03fe5e16a33c 492 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 493 Matrix zmag = -dcm*mag-magField;
NaotoMorita 59:03fe5e16a33c 494 Matrix z(3,1);
NaotoMorita 59:03fe5e16a33c 495 z << zmag(1,1) << zmag(2,1) << palt - pihat(3,1);
NaotoMorita 59:03fe5e16a33c 496 errState = K * z;
NaotoMorita 59:03fe5e16a33c 497 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 59:03fe5e16a33c 498 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 499 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 500
NaotoMorita 59:03fe5e16a33c 501 fuseErr2Nominal();
NaotoMorita 59:03fe5e16a33c 502 }
NaotoMorita 59:03fe5e16a33c 503 void solaESKF::updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R)
NaotoMorita 59:03fe5e16a33c 504 {
NaotoMorita 59:03fe5e16a33c 505
NaotoMorita 59:03fe5e16a33c 506 Matrix dcm(3,3);
NaotoMorita 59:03fe5e16a33c 507 computeDcm(dcm, qhat);
NaotoMorita 59:03fe5e16a33c 508 Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1));
NaotoMorita 59:03fe5e16a33c 509
NaotoMorita 59:03fe5e16a33c 510
NaotoMorita 59:03fe5e16a33c 511 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 512 H(1,4) = 1.0f;
NaotoMorita 59:03fe5e16a33c 513 H(2,5) = 1.0f;
NaotoMorita 59:03fe5e16a33c 514
NaotoMorita 59:03fe5e16a33c 515 for (int j = 1; j < 4; j++){
NaotoMorita 59:03fe5e16a33c 516 H(3,j+6) = a2v(2,j);
NaotoMorita 59:03fe5e16a33c 517 }
NaotoMorita 59:03fe5e16a33c 518 //H(3,19) = 1.0f;
NaotoMorita 59:03fe5e16a33c 519
NaotoMorita 59:03fe5e16a33c 520 Matrix zmag = -dcm*mag-magField;
NaotoMorita 59:03fe5e16a33c 521
NaotoMorita 59:03fe5e16a33c 522 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 59:03fe5e16a33c 523 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 59:03fe5e16a33c 524 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 525 Matrix z(3,1);
NaotoMorita 59:03fe5e16a33c 526 z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << zmag(2,1);
NaotoMorita 59:03fe5e16a33c 527 errState = K * z;
NaotoMorita 59:03fe5e16a33c 528 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 59:03fe5e16a33c 529 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 530 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 531 fuseErr2Nominal();
NaotoMorita 59:03fe5e16a33c 532 }
NaotoMorita 56:c10f1168bd4a 533
NaotoMorita 59:03fe5e16a33c 534 void solaESKF::updateGPSPosition(Matrix posgps,float palt,Matrix R)
NaotoMorita 59:03fe5e16a33c 535 {
NaotoMorita 59:03fe5e16a33c 536 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 537 H(1,1) = 1.0f;
NaotoMorita 59:03fe5e16a33c 538 H(2,2) = 1.0f;
NaotoMorita 59:03fe5e16a33c 539 H(3,3) = 1.0f;
NaotoMorita 59:03fe5e16a33c 540
NaotoMorita 59:03fe5e16a33c 541 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 59:03fe5e16a33c 542 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 59:03fe5e16a33c 543 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 544 Matrix z(3,1);
NaotoMorita 59:03fe5e16a33c 545 z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1);
NaotoMorita 59:03fe5e16a33c 546 errState = K * z;
NaotoMorita 59:03fe5e16a33c 547 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 59:03fe5e16a33c 548 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 549 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 550 fuseErr2Nominal();
NaotoMorita 59:03fe5e16a33c 551 }
NaotoMorita 61:5e5c4fe12440 552
NaotoMorita 61:5e5c4fe12440 553 void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R)
NaotoMorita 61:5e5c4fe12440 554 {
NaotoMorita 61:5e5c4fe12440 555 Matrix accm = acc - accBias;
NaotoMorita 61:5e5c4fe12440 556 Matrix magm = mag - magBias;
NaotoMorita 61:5e5c4fe12440 557 Matrix dcm(3,3);
NaotoMorita 61:5e5c4fe12440 558 computeDcm(dcm, qhat);
NaotoMorita 61:5e5c4fe12440 559 Matrix tdcm = MatrixMath::Transpose(dcm);
NaotoMorita 61:5e5c4fe12440 560 Matrix tdcm_g = tdcm*gravity;
NaotoMorita 61:5e5c4fe12440 561 Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1));
NaotoMorita 61:5e5c4fe12440 562 Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1));
NaotoMorita 61:5e5c4fe12440 563
NaotoMorita 61:5e5c4fe12440 564 Matrix H(5,nState);
NaotoMorita 61:5e5c4fe12440 565 for (int i = 1; i < 4; i++){
NaotoMorita 61:5e5c4fe12440 566 for (int j = 1; j < 4; j++){
NaotoMorita 61:5e5c4fe12440 567 H(i,j+6) = rotgrav(i,j);
NaotoMorita 61:5e5c4fe12440 568 }
NaotoMorita 61:5e5c4fe12440 569 H(i,16) = tdcm(i,3);
NaotoMorita 61:5e5c4fe12440 570 }
NaotoMorita 61:5e5c4fe12440 571
NaotoMorita 61:5e5c4fe12440 572 H(1,10) = -1.0f;
NaotoMorita 61:5e5c4fe12440 573 H(2,11) = -1.0f;
NaotoMorita 61:5e5c4fe12440 574 H(3,12) = -1.0f;
NaotoMorita 61:5e5c4fe12440 575
NaotoMorita 61:5e5c4fe12440 576 Matrix magned = dcm*magm;
NaotoMorita 61:5e5c4fe12440 577 float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1));
NaotoMorita 61:5e5c4fe12440 578
NaotoMorita 61:5e5c4fe12440 579 for(int j = 1; j < 4; j++){
NaotoMorita 61:5e5c4fe12440 580 H(4,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx;
NaotoMorita 61:5e5c4fe12440 581 H(4,j+16) = -dcm(1,j)+(dcm(1,j)+dcm(2,j))/hx;
NaotoMorita 61:5e5c4fe12440 582 H(5,j+6) = rotmag(2,j);
NaotoMorita 61:5e5c4fe12440 583 H(5,j+16) = -dcm(2,j);
NaotoMorita 61:5e5c4fe12440 584 }
NaotoMorita 61:5e5c4fe12440 585
NaotoMorita 61:5e5c4fe12440 586 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 61:5e5c4fe12440 587 Matrix zacc = -accm-tdcm*gravity;
NaotoMorita 61:5e5c4fe12440 588 Matrix zmag = dcm*magm;
NaotoMorita 61:5e5c4fe12440 589 Matrix z(5,1);
NaotoMorita 61:5e5c4fe12440 590 z << zacc(1,1) << zacc(2,1) << zacc(3,1) << -(zmag(1,1) - hx) << -zmag(2,1);
NaotoMorita 61:5e5c4fe12440 591 twelite.printf("%f %f\r\n",hx,(zmag(1,1) - hx));
NaotoMorita 61:5e5c4fe12440 592 errState = K * z;
NaotoMorita 61:5e5c4fe12440 593 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 61:5e5c4fe12440 594
NaotoMorita 61:5e5c4fe12440 595 fuseErr2Nominal();
NaotoMorita 61:5e5c4fe12440 596 }
NaotoMorita 56:c10f1168bd4a 597 */