Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
ScErrStateEKF.cpp@40:119792aa6d3b, 2021-10-18 (annotated)
- Committer:
- osaka
- Date:
- Mon Oct 18 12:16:57 2021 +0000
- Revision:
- 40:119792aa6d3b
- Parent:
- 39:6834e05d8a64
- Child:
- 42:b90c348a49c0
- Child:
- 43:cbc2c2d65131
errState with accBias
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NaotoMorita | 19:3fae66745363 | 1 | #include "ScErrStateEKF.hpp" |
NaotoMorita | 19:3fae66745363 | 2 | #include "Matrix.h" |
NaotoMorita | 19:3fae66745363 | 3 | #include "MatrixMath.h" |
NaotoMorita | 19:3fae66745363 | 4 | #include <cmath> |
NaotoMorita | 19:3fae66745363 | 5 | #include "Vector3.hpp" |
NaotoMorita | 19:3fae66745363 | 6 | |
NaotoMorita | 19:3fae66745363 | 7 | |
NaotoMorita | 19:3fae66745363 | 8 | using namespace std; |
NaotoMorita | 19:3fae66745363 | 9 | |
NaotoMorita | 19:3fae66745363 | 10 | ScErrStateEKF::ScErrStateEKF() |
osaka | 38:1f6532849c05 | 11 | :qhat(4,1),vihat(3,1), errState(12,1), Phat(12,12), Q(12,12), Ra(3,3), Rgps(3,3),Rsr(1,1), Rm(3,3), Qab(3,3),Rgsc(2,2),Rvsc(2,2),accBias(0.0f,0.0f,0.0f),gyroBias(0.0f,0.0f,0.0f) |
NaotoMorita | 19:3fae66745363 | 12 | { |
NaotoMorita | 21:d6079def0473 | 13 | nState = errState.getRows(); |
NaotoMorita | 19:3fae66745363 | 14 | qhat << 1.0f << 0.0f << 0.0f << 0.0f; |
osaka | 40:119792aa6d3b | 15 | vihat << 0.0f << 0.0f << 0.0f; |
osaka | 40:119792aa6d3b | 16 | for (int i = 1; i <= nState; i++) |
osaka | 40:119792aa6d3b | 17 | { |
osaka | 40:119792aa6d3b | 18 | errState(i, 1) = 0.0f; |
osaka | 40:119792aa6d3b | 19 | } |
NaotoMorita | 19:3fae66745363 | 20 | |
osaka | 39:6834e05d8a64 | 21 | setDiag(Phat,0.1f); |
osaka | 39:6834e05d8a64 | 22 | Phat(4,4) = 0.001; |
osaka | 39:6834e05d8a64 | 23 | Phat(5,5) = 0.001; |
osaka | 39:6834e05d8a64 | 24 | Phat(6,6) = 0.001; |
osaka | 39:6834e05d8a64 | 25 | Phat(7,7) = 1.0; |
osaka | 39:6834e05d8a64 | 26 | Phat(8,8) = 1.0; |
osaka | 39:6834e05d8a64 | 27 | Phat(9,9) = 1.0; |
osaka | 39:6834e05d8a64 | 28 | setQqerr(0.001f); |
osaka | 39:6834e05d8a64 | 29 | setQgbias(0.0001f); |
osaka | 39:6834e05d8a64 | 30 | setQabias(1.0f); |
osaka | 39:6834e05d8a64 | 31 | setQv(0.01f); |
NaotoMorita | 19:3fae66745363 | 32 | |
NaotoMorita | 20:37d3c3ee36e9 | 33 | //加速度の観測 |
osaka | 39:6834e05d8a64 | 34 | setDiag(Ra,0.1f); |
osaka | 39:6834e05d8a64 | 35 | setDiag(Qab,1.5f); |
NaotoMorita | 20:37d3c3ee36e9 | 36 | |
NaotoMorita | 20:37d3c3ee36e9 | 37 | //ジャイロバイアスに関する制約 |
osaka | 39:6834e05d8a64 | 38 | setDiag(Rgsc,500.0f); |
NaotoMorita | 20:37d3c3ee36e9 | 39 | |
NaotoMorita | 34:dec4b37db3f1 | 40 | //地磁気(未使用) |
NaotoMorita | 21:d6079def0473 | 41 | setDiag(Rm,5.0f); |
NaotoMorita | 19:3fae66745363 | 42 | |
NaotoMorita | 34:dec4b37db3f1 | 43 | //GPS |
osaka | 39:6834e05d8a64 | 44 | setDiag(Rgps,0.001f); |
NaotoMorita | 34:dec4b37db3f1 | 45 | //降下速度 |
osaka | 39:6834e05d8a64 | 46 | setDiag(Rsr,0.001f); |
NaotoMorita | 26:73c3f58b9d70 | 47 | |
NaotoMorita | 19:3fae66745363 | 48 | for(int i = 0; i<10;i++){ |
NaotoMorita | 19:3fae66745363 | 49 | histffunc[i] = 0.0f; |
NaotoMorita | 19:3fae66745363 | 50 | } |
NaotoMorita | 19:3fae66745363 | 51 | histffuncindex = 0 ; |
NaotoMorita | 19:3fae66745363 | 52 | sigma2a = 0.000020f; |
NaotoMorita | 19:3fae66745363 | 53 | |
NaotoMorita | 19:3fae66745363 | 54 | |
NaotoMorita | 19:3fae66745363 | 55 | } |
NaotoMorita | 19:3fae66745363 | 56 | |
NaotoMorita | 23:1509648c2318 | 57 | void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt) |
NaotoMorita | 19:3fae66745363 | 58 | { |
NaotoMorita | 19:3fae66745363 | 59 | gyro -= gyroBias; |
NaotoMorita | 23:1509648c2318 | 60 | acc -= accBias; |
NaotoMorita | 19:3fae66745363 | 61 | Matrix A(4,4); |
NaotoMorita | 19:3fae66745363 | 62 | A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z |
NaotoMorita | 19:3fae66745363 | 63 | << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y |
NaotoMorita | 19:3fae66745363 | 64 | << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x |
NaotoMorita | 19:3fae66745363 | 65 | << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ; |
NaotoMorita | 19:3fae66745363 | 66 | |
NaotoMorita | 20:37d3c3ee36e9 | 67 | Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 19:3fae66745363 | 68 | qhat = phi * qhat; |
NaotoMorita | 19:3fae66745363 | 69 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 70 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 71 | |
NaotoMorita | 23:1509648c2318 | 72 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 73 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 74 | vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f; |
NaotoMorita | 19:3fae66745363 | 75 | } |
NaotoMorita | 19:3fae66745363 | 76 | |
NaotoMorita | 23:1509648c2318 | 77 | void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt) |
NaotoMorita | 23:1509648c2318 | 78 | { |
NaotoMorita | 23:1509648c2318 | 79 | gyro -= gyroBias; |
NaotoMorita | 23:1509648c2318 | 80 | acc -= accBias; |
NaotoMorita | 23:1509648c2318 | 81 | Matrix A(nState,nState); |
NaotoMorita | 23:1509648c2318 | 82 | A(1,2) = gyro.z; |
NaotoMorita | 23:1509648c2318 | 83 | A(1,3) = -gyro.y; |
NaotoMorita | 23:1509648c2318 | 84 | A(2,1) = -gyro.z; |
NaotoMorita | 23:1509648c2318 | 85 | A(2,3) = gyro.x; |
NaotoMorita | 23:1509648c2318 | 86 | A(3,1) = gyro.y; |
NaotoMorita | 23:1509648c2318 | 87 | A(3,2) = -gyro.x; |
osaka | 38:1f6532849c05 | 88 | A(1,4) = -0.5f; |
osaka | 38:1f6532849c05 | 89 | A(2,5) = -0.5f; |
osaka | 38:1f6532849c05 | 90 | A(3,6) = -0.5f; |
NaotoMorita | 23:1509648c2318 | 91 | |
NaotoMorita | 23:1509648c2318 | 92 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 93 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 94 | Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z); |
NaotoMorita | 23:1509648c2318 | 95 | Matrix baterm = -9.8f*MatrixMath::Transpose(dcm); |
NaotoMorita | 23:1509648c2318 | 96 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 23:1509648c2318 | 97 | for (int j = 1; i < 4; i++){ |
osaka | 38:1f6532849c05 | 98 | A(i+9,j) = qeterm(i,j); |
osaka | 38:1f6532849c05 | 99 | A(i+9,j+6) = baterm(i,j); |
NaotoMorita | 23:1509648c2318 | 100 | } |
NaotoMorita | 23:1509648c2318 | 101 | } |
NaotoMorita | 23:1509648c2318 | 102 | |
NaotoMorita | 23:1509648c2318 | 103 | Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 23:1509648c2318 | 104 | Matrix Qd = Q * att_dt + 0.5f*A*Q * att_dt * att_dt+ 0.5f*Q*MatrixMath::Transpose(A) * att_dt * att_dt; |
NaotoMorita | 23:1509648c2318 | 105 | errState = phi * errState; |
NaotoMorita | 23:1509648c2318 | 106 | Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd; |
NaotoMorita | 23:1509648c2318 | 107 | } |
NaotoMorita | 20:37d3c3ee36e9 | 108 | void ScErrStateEKF::setQqerr(float val){ |
NaotoMorita | 20:37d3c3ee36e9 | 109 | Q(1,1) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 110 | Q(2,2) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 111 | Q(3,3) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 112 | } |
NaotoMorita | 20:37d3c3ee36e9 | 113 | |
NaotoMorita | 20:37d3c3ee36e9 | 114 | void ScErrStateEKF::setQgbias(float val){ |
NaotoMorita | 20:37d3c3ee36e9 | 115 | Q(4,4) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 116 | Q(5,5) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 117 | Q(6,6) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 118 | } |
osaka | 38:1f6532849c05 | 119 | void ScErrStateEKF::setQabias(float val){ |
NaotoMorita | 20:37d3c3ee36e9 | 120 | Q(7,7) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 121 | Q(8,8) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 122 | Q(9,9) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 123 | } |
osaka | 38:1f6532849c05 | 124 | void ScErrStateEKF::setQv(float val){ |
osaka | 38:1f6532849c05 | 125 | Q(10,10) = val; |
osaka | 38:1f6532849c05 | 126 | Q(11,11) = val; |
osaka | 38:1f6532849c05 | 127 | Q(12,12) = val; |
osaka | 38:1f6532849c05 | 128 | } |
NaotoMorita | 21:d6079def0473 | 129 | |
NaotoMorita | 20:37d3c3ee36e9 | 130 | void ScErrStateEKF::setQab(float val){ |
NaotoMorita | 21:d6079def0473 | 131 | setDiag(Qab,val); |
NaotoMorita | 20:37d3c3ee36e9 | 132 | } |
NaotoMorita | 20:37d3c3ee36e9 | 133 | |
NaotoMorita | 23:1509648c2318 | 134 | |
NaotoMorita | 20:37d3c3ee36e9 | 135 | void ScErrStateEKF::setRsoftconst(float Vgsc,float Vvsc){ |
NaotoMorita | 21:d6079def0473 | 136 | setDiag(Rgsc,Vgsc); |
NaotoMorita | 23:1509648c2318 | 137 | setDiag(Rvsc,Vvsc); |
NaotoMorita | 20:37d3c3ee36e9 | 138 | } |
NaotoMorita | 20:37d3c3ee36e9 | 139 | |
NaotoMorita | 21:d6079def0473 | 140 | void ScErrStateEKF::setDiag(Matrix& mat, float val){ |
NaotoMorita | 21:d6079def0473 | 141 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 21:d6079def0473 | 142 | mat(i,i) = val; |
NaotoMorita | 21:d6079def0473 | 143 | } |
NaotoMorita | 21:d6079def0473 | 144 | } |
NaotoMorita | 20:37d3c3ee36e9 | 145 | |
NaotoMorita | 25:07ac5c6cd61c | 146 | void ScErrStateEKF::getQhat(float (&res)[4]){ |
NaotoMorita | 25:07ac5c6cd61c | 147 | for (int i = 0; i < 4; i++){ |
NaotoMorita | 25:07ac5c6cd61c | 148 | res[i] = qhat(i+1,1); |
NaotoMorita | 25:07ac5c6cd61c | 149 | } |
NaotoMorita | 25:07ac5c6cd61c | 150 | } |
NaotoMorita | 25:07ac5c6cd61c | 151 | |
NaotoMorita | 25:07ac5c6cd61c | 152 | void ScErrStateEKF::getVihat(float (&res)[3]){ |
NaotoMorita | 25:07ac5c6cd61c | 153 | for (int i = 0; i < 3; i++){ |
NaotoMorita | 25:07ac5c6cd61c | 154 | res[i] = vihat(i+1,1); |
NaotoMorita | 25:07ac5c6cd61c | 155 | } |
NaotoMorita | 25:07ac5c6cd61c | 156 | } |
NaotoMorita | 25:07ac5c6cd61c | 157 | |
NaotoMorita | 25:07ac5c6cd61c | 158 | void ScErrStateEKF::getGyroBias(float (&resVal)[3], float (&resCov)[6]){ |
NaotoMorita | 25:07ac5c6cd61c | 159 | resVal[0] = gyroBias.x; |
NaotoMorita | 25:07ac5c6cd61c | 160 | resVal[1] = gyroBias.y; |
NaotoMorita | 25:07ac5c6cd61c | 161 | resVal[2] = gyroBias.z; |
osaka | 38:1f6532849c05 | 162 | resCov[0] = Phat(4,4); |
osaka | 38:1f6532849c05 | 163 | resCov[1] = Phat(4,5); |
osaka | 38:1f6532849c05 | 164 | resCov[2] = Phat(4,6); |
osaka | 38:1f6532849c05 | 165 | resCov[3] = Phat(5,5); |
osaka | 38:1f6532849c05 | 166 | resCov[4] = Phat(5,6); |
osaka | 38:1f6532849c05 | 167 | resCov[5] = Phat(6,6); |
NaotoMorita | 25:07ac5c6cd61c | 168 | |
NaotoMorita | 25:07ac5c6cd61c | 169 | } |
NaotoMorita | 25:07ac5c6cd61c | 170 | |
NaotoMorita | 25:07ac5c6cd61c | 171 | void ScErrStateEKF::getAccBias(float (&resVal)[3], float (&resCov)[6]){ |
NaotoMorita | 25:07ac5c6cd61c | 172 | resVal[0] = accBias.x; |
NaotoMorita | 25:07ac5c6cd61c | 173 | resVal[1] = accBias.y; |
NaotoMorita | 25:07ac5c6cd61c | 174 | resVal[2] = accBias.z; |
osaka | 38:1f6532849c05 | 175 | resCov[0] = Phat(7,7); |
osaka | 38:1f6532849c05 | 176 | resCov[1] = Phat(7,8); |
osaka | 38:1f6532849c05 | 177 | resCov[2] = Phat(7,9); |
osaka | 38:1f6532849c05 | 178 | resCov[3] = Phat(8,8); |
osaka | 38:1f6532849c05 | 179 | resCov[4] = Phat(8,9); |
osaka | 38:1f6532849c05 | 180 | resCov[5] = Phat(9,9); |
NaotoMorita | 25:07ac5c6cd61c | 181 | |
NaotoMorita | 25:07ac5c6cd61c | 182 | } |
NaotoMorita | 25:07ac5c6cd61c | 183 | |
NaotoMorita | 19:3fae66745363 | 184 | |
NaotoMorita | 19:3fae66745363 | 185 | void ScErrStateEKF::updateAccMeasures(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 186 | { |
NaotoMorita | 21:d6079def0473 | 187 | acc -= accBias; |
NaotoMorita | 20:37d3c3ee36e9 | 188 | Matrix dcm(3,3); |
NaotoMorita | 20:37d3c3ee36e9 | 189 | computeDcm(dcm, qhat); |
NaotoMorita | 20:37d3c3ee36e9 | 190 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 21:d6079def0473 | 191 | Matrix H(3,nState); |
NaotoMorita | 20:37d3c3ee36e9 | 192 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 20:37d3c3ee36e9 | 193 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 20:37d3c3ee36e9 | 194 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 20:37d3c3ee36e9 | 195 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 20:37d3c3ee36e9 | 196 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 20:37d3c3ee36e9 | 197 | H(3,2) = 2.0f*gvec.x; |
osaka | 38:1f6532849c05 | 198 | H(1,7) = 1.0f; |
osaka | 38:1f6532849c05 | 199 | H(2,8) = 1.0f; |
osaka | 38:1f6532849c05 | 200 | H(3,9) = 1.0f; |
NaotoMorita | 20:37d3c3ee36e9 | 201 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra+Qab); |
NaotoMorita | 21:d6079def0473 | 202 | Matrix z = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref); |
NaotoMorita | 20:37d3c3ee36e9 | 203 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 20:37d3c3ee36e9 | 204 | errState = errState + corrVal; |
NaotoMorita | 21:d6079def0473 | 205 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra+Qab)*MatrixMath::Transpose(K); |
NaotoMorita | 20:37d3c3ee36e9 | 206 | } |
NaotoMorita | 20:37d3c3ee36e9 | 207 | |
NaotoMorita | 20:37d3c3ee36e9 | 208 | void ScErrStateEKF::updateGyroBiasConstraints(Vector3 gyro) |
NaotoMorita | 20:37d3c3ee36e9 | 209 | { |
NaotoMorita | 21:d6079def0473 | 210 | gyro -= gyroBias; |
NaotoMorita | 23:1509648c2318 | 211 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 212 | computeDcm(dcm, qhat); |
osaka | 38:1f6532849c05 | 213 | Matrix H(2,nState); |
osaka | 38:1f6532849c05 | 214 | H(1,4) = 1.0f*(dcm(1,1)); |
osaka | 38:1f6532849c05 | 215 | H(1,5) = 1.0f*(dcm(2,1)); |
osaka | 38:1f6532849c05 | 216 | H(1,6) = 1.0f*(dcm(3,1)); |
osaka | 38:1f6532849c05 | 217 | H(2,4) = 1.0f*(dcm(1,2)); |
osaka | 38:1f6532849c05 | 218 | H(2,5) = 1.0f*(dcm(2,2)); |
osaka | 38:1f6532849c05 | 219 | H(2,6) = 1.0f*(dcm(3,2)); |
NaotoMorita | 23:1509648c2318 | 220 | |
osaka | 38:1f6532849c05 | 221 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rgsc); |
NaotoMorita | 31:e655d4d8e4d6 | 222 | Matrix z(2,1); |
NaotoMorita | 31:e655d4d8e4d6 | 223 | z <<dcm(1,1)*gyro.x+dcm(2,1)*gyro.y+dcm(3,1)*gyro.z<< dcm(1,2)*gyro.x+dcm(2,2)*gyro.y+dcm(3,2)*gyro.z; |
osaka | 38:1f6532849c05 | 224 | Matrix corrVal = K * (z-H*errState); |
osaka | 38:1f6532849c05 | 225 | errState = errState + corrVal; |
osaka | 38:1f6532849c05 | 226 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgsc)*MatrixMath::Transpose(K); |
NaotoMorita | 23:1509648c2318 | 227 | } |
NaotoMorita | 23:1509648c2318 | 228 | |
NaotoMorita | 23:1509648c2318 | 229 | |
NaotoMorita | 19:3fae66745363 | 230 | void ScErrStateEKF::updateStaticAccMeasures(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 231 | { |
NaotoMorita | 19:3fae66745363 | 232 | Matrix dcm(3,3); |
NaotoMorita | 19:3fae66745363 | 233 | computeDcm(dcm, qhat); |
NaotoMorita | 19:3fae66745363 | 234 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 21:d6079def0473 | 235 | Matrix H(3,nState); |
NaotoMorita | 19:3fae66745363 | 236 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 19:3fae66745363 | 237 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 19:3fae66745363 | 238 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 19:3fae66745363 | 239 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 19:3fae66745363 | 240 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 19:3fae66745363 | 241 | H(3,2) = 2.0f*gvec.x; |
NaotoMorita | 19:3fae66745363 | 242 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra*100.0f); |
NaotoMorita | 19:3fae66745363 | 243 | Matrix accmat(3,1); |
NaotoMorita | 19:3fae66745363 | 244 | accmat << acc.x << acc.y << acc.z; |
NaotoMorita | 19:3fae66745363 | 245 | Matrix gref(3,1); |
NaotoMorita | 19:3fae66745363 | 246 | gref << 0.0f << 0.0f << accref.z; |
NaotoMorita | 19:3fae66745363 | 247 | Matrix z = accmat-dcm*gref; |
NaotoMorita | 19:3fae66745363 | 248 | errState = errState + K * (z-H*errState); |
NaotoMorita | 21:d6079def0473 | 249 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra*100.0f)*MatrixMath::Transpose(K); |
NaotoMorita | 19:3fae66745363 | 250 | } |
NaotoMorita | 19:3fae66745363 | 251 | |
NaotoMorita | 32:321a756e12ad | 252 | void ScErrStateEKF::updateGPSVelocity(float vi_x, float vi_y, float sinkRate,Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 253 | { |
NaotoMorita | 31:e655d4d8e4d6 | 254 | acc -= accBias; |
NaotoMorita | 31:e655d4d8e4d6 | 255 | Matrix dcm(3,3); |
NaotoMorita | 31:e655d4d8e4d6 | 256 | computeDcm(dcm, qhat); |
NaotoMorita | 31:e655d4d8e4d6 | 257 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
osaka | 40:119792aa6d3b | 258 | |
NaotoMorita | 32:321a756e12ad | 259 | Matrix H(6,nState); |
NaotoMorita | 31:e655d4d8e4d6 | 260 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 31:e655d4d8e4d6 | 261 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 31:e655d4d8e4d6 | 262 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 31:e655d4d8e4d6 | 263 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 31:e655d4d8e4d6 | 264 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 31:e655d4d8e4d6 | 265 | H(3,2) = 2.0f*gvec.x; |
osaka | 38:1f6532849c05 | 266 | H(1,7) = 1.0f; |
osaka | 38:1f6532849c05 | 267 | H(2,8) = 1.0f; |
osaka | 38:1f6532849c05 | 268 | H(3,9) = 1.0f; |
osaka | 38:1f6532849c05 | 269 | H(4,10) = 1.0f; |
osaka | 38:1f6532849c05 | 270 | H(5,11) = 1.0f; |
osaka | 38:1f6532849c05 | 271 | H(6,12) = 1.0f; |
NaotoMorita | 31:e655d4d8e4d6 | 272 | |
NaotoMorita | 32:321a756e12ad | 273 | Matrix R(6,6); |
NaotoMorita | 31:e655d4d8e4d6 | 274 | R(1,1) = Ra(1,1)+Qab(1,1); |
NaotoMorita | 31:e655d4d8e4d6 | 275 | R(2,2) = Ra(2,2)+Qab(2,2); |
NaotoMorita | 31:e655d4d8e4d6 | 276 | R(3,3) = Ra(3,3)+Qab(3,3); |
NaotoMorita | 31:e655d4d8e4d6 | 277 | R(4,4) = Rgps(1,1); |
NaotoMorita | 31:e655d4d8e4d6 | 278 | R(5,5) = Rgps(2,2); |
NaotoMorita | 32:321a756e12ad | 279 | R(6,6) = Rsr(1,1); |
NaotoMorita | 31:e655d4d8e4d6 | 280 | |
osaka | 40:119792aa6d3b | 281 | /* |
osaka | 40:119792aa6d3b | 282 | Matrix H(3, nState); |
osaka | 40:119792aa6d3b | 283 | H(1, 10) = 1.0f; |
osaka | 40:119792aa6d3b | 284 | H(2, 11) = 1.0f; |
osaka | 40:119792aa6d3b | 285 | H(3, 12) = 1.0f; |
osaka | 40:119792aa6d3b | 286 | |
osaka | 40:119792aa6d3b | 287 | Matrix R(3,3); |
osaka | 40:119792aa6d3b | 288 | R(1,1) = Rgps(1,1); |
osaka | 40:119792aa6d3b | 289 | R(2,2) = Rgps(2,2); |
osaka | 40:119792aa6d3b | 290 | R(3,3) = Rsr(1,1); |
osaka | 40:119792aa6d3b | 291 | */ |
osaka | 40:119792aa6d3b | 292 | |
NaotoMorita | 31:e655d4d8e4d6 | 293 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 31:e655d4d8e4d6 | 294 | Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref); |
NaotoMorita | 32:321a756e12ad | 295 | Matrix z(6,1); |
osaka | 39:6834e05d8a64 | 296 | z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << vi_x - vihat(1,1) << vi_y-vihat(2,1) << sinkRate - vihat(3,1); |
osaka | 40:119792aa6d3b | 297 | //z << vi_x - vihat(1,1) << vi_y-vihat(2,1) << sinkRate - vihat(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 298 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 299 | errState = errState + corrVal; |
NaotoMorita | 31:e655d4d8e4d6 | 300 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 19:3fae66745363 | 301 | } |
NaotoMorita | 19:3fae66745363 | 302 | |
NaotoMorita | 31:e655d4d8e4d6 | 303 | void ScErrStateEKF::updateSinkRate(float sinkRate,Vector3 acc, Vector3 accref) |
NaotoMorita | 30:ff884e9b2e30 | 304 | { |
NaotoMorita | 31:e655d4d8e4d6 | 305 | acc -= accBias; |
NaotoMorita | 31:e655d4d8e4d6 | 306 | Matrix dcm(3,3); |
NaotoMorita | 31:e655d4d8e4d6 | 307 | computeDcm(dcm, qhat); |
NaotoMorita | 31:e655d4d8e4d6 | 308 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 31:e655d4d8e4d6 | 309 | Matrix H(4,nState); |
NaotoMorita | 31:e655d4d8e4d6 | 310 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 31:e655d4d8e4d6 | 311 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 31:e655d4d8e4d6 | 312 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 31:e655d4d8e4d6 | 313 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 31:e655d4d8e4d6 | 314 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 31:e655d4d8e4d6 | 315 | H(3,2) = 2.0f*gvec.x; |
osaka | 38:1f6532849c05 | 316 | H(1,7) = 1.0f; |
osaka | 38:1f6532849c05 | 317 | H(2,8) = 1.0f; |
osaka | 38:1f6532849c05 | 318 | H(3,9) = 1.0f; |
osaka | 38:1f6532849c05 | 319 | H(4,12) = 1.0f; |
NaotoMorita | 31:e655d4d8e4d6 | 320 | |
NaotoMorita | 31:e655d4d8e4d6 | 321 | Matrix R(4,4); |
NaotoMorita | 31:e655d4d8e4d6 | 322 | R(1,1) = Ra(1,1)+Qab(1,1); |
NaotoMorita | 31:e655d4d8e4d6 | 323 | R(2,2) = Ra(2,2)+Qab(2,2); |
NaotoMorita | 31:e655d4d8e4d6 | 324 | R(3,3) = Ra(3,3)+Qab(3,3); |
NaotoMorita | 31:e655d4d8e4d6 | 325 | R(4,4) = Rsr(1,1); |
osaka | 40:119792aa6d3b | 326 | /* |
osaka | 40:119792aa6d3b | 327 | R(1,1) = 0.0001f; |
osaka | 40:119792aa6d3b | 328 | R(2,2) = 0.0001f; |
osaka | 40:119792aa6d3b | 329 | R(3,3) = 0.0001f; |
osaka | 40:119792aa6d3b | 330 | */ |
NaotoMorita | 31:e655d4d8e4d6 | 331 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 31:e655d4d8e4d6 | 332 | Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref); |
NaotoMorita | 31:e655d4d8e4d6 | 333 | Matrix z(4,1); |
NaotoMorita | 31:e655d4d8e4d6 | 334 | z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << sinkRate - vihat(3,1); |
NaotoMorita | 30:ff884e9b2e30 | 335 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 30:ff884e9b2e30 | 336 | errState = errState + corrVal; |
NaotoMorita | 31:e655d4d8e4d6 | 337 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 30:ff884e9b2e30 | 338 | } |
NaotoMorita | 30:ff884e9b2e30 | 339 | |
NaotoMorita | 25:07ac5c6cd61c | 340 | void ScErrStateEKF::updateCenteredGyroBiasCorrection(float (&cBg)[3]) |
NaotoMorita | 25:07ac5c6cd61c | 341 | { |
NaotoMorita | 25:07ac5c6cd61c | 342 | |
NaotoMorita | 25:07ac5c6cd61c | 343 | Matrix RgyroBias(3,3); |
NaotoMorita | 25:07ac5c6cd61c | 344 | for(int i = 1;i<4;i++){ |
NaotoMorita | 25:07ac5c6cd61c | 345 | RgyroBias(i,i) = 0.1f; |
NaotoMorita | 25:07ac5c6cd61c | 346 | } |
NaotoMorita | 25:07ac5c6cd61c | 347 | |
osaka | 38:1f6532849c05 | 348 | Matrix H(3,nState); |
osaka | 38:1f6532849c05 | 349 | H(1,4) = 1.0f; |
osaka | 38:1f6532849c05 | 350 | H(2,5) = 1.0f; |
osaka | 38:1f6532849c05 | 351 | H(3,6) = 1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 352 | |
osaka | 38:1f6532849c05 | 353 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RgyroBias); |
NaotoMorita | 25:07ac5c6cd61c | 354 | Matrix z(3,1); |
NaotoMorita | 25:07ac5c6cd61c | 355 | z <<cBg[0]-gyroBias.x <<cBg[1]-gyroBias.y <<cBg[2]-gyroBias.z; |
osaka | 38:1f6532849c05 | 356 | Matrix corrVal = K * (z-H*errState); |
osaka | 38:1f6532849c05 | 357 | errState = errState + corrVal; |
osaka | 38:1f6532849c05 | 358 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RgyroBias)*MatrixMath::Transpose(K); |
NaotoMorita | 25:07ac5c6cd61c | 359 | |
NaotoMorita | 25:07ac5c6cd61c | 360 | } |
NaotoMorita | 25:07ac5c6cd61c | 361 | |
NaotoMorita | 19:3fae66745363 | 362 | void ScErrStateEKF::resetBias() |
NaotoMorita | 19:3fae66745363 | 363 | { |
osaka | 38:1f6532849c05 | 364 | gyroBias.x = gyroBias.x + errState(4,1)*1.0f; |
osaka | 38:1f6532849c05 | 365 | gyroBias.y = gyroBias.y + errState(5,1)*1.0f; |
osaka | 38:1f6532849c05 | 366 | gyroBias.z = gyroBias.z + errState(6,1)*1.0f; |
NaotoMorita | 19:3fae66745363 | 367 | errState(4,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 368 | errState(5,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 369 | errState(6,1) = 0.0f; |
osaka | 38:1f6532849c05 | 370 | accBias.x = accBias.x + errState(7,1); |
osaka | 38:1f6532849c05 | 371 | accBias.y = accBias.y + errState(8,1); |
osaka | 38:1f6532849c05 | 372 | accBias.z = accBias.z + errState(9,1); |
osaka | 38:1f6532849c05 | 373 | errState(7,1) = 0.0f; |
osaka | 38:1f6532849c05 | 374 | errState(8,1) = 0.0f; |
osaka | 38:1f6532849c05 | 375 | errState(9,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 376 | } |
NaotoMorita | 19:3fae66745363 | 377 | |
NaotoMorita | 19:3fae66745363 | 378 | void ScErrStateEKF::computeAngles(Vector3& rpy,Vector3 rpy_align) |
NaotoMorita | 19:3fae66745363 | 379 | { |
NaotoMorita | 19:3fae66745363 | 380 | Matrix qerr(4,1); |
NaotoMorita | 19:3fae66745363 | 381 | qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1); |
NaotoMorita | 19:3fae66745363 | 382 | //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr)); |
NaotoMorita | 19:3fae66745363 | 383 | //qerr *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 384 | Matrix qest = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 385 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qest),qest)); |
NaotoMorita | 19:3fae66745363 | 386 | qest *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 387 | float q0 = qest( 1, 1 ); |
NaotoMorita | 19:3fae66745363 | 388 | float q1 = qest( 2, 1 ); |
NaotoMorita | 19:3fae66745363 | 389 | float q2 = qest( 3, 1 ); |
NaotoMorita | 19:3fae66745363 | 390 | float q3 = qest( 4, 1 ); |
NaotoMorita | 19:3fae66745363 | 391 | rpy.x = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-rpy_align.x; |
NaotoMorita | 19:3fae66745363 | 392 | rpy.y = asinf(-2.0f * (q1*q3 - q0*q2))-rpy_align.y; |
NaotoMorita | 19:3fae66745363 | 393 | rpy.z = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3); |
NaotoMorita | 19:3fae66745363 | 394 | |
NaotoMorita | 19:3fae66745363 | 395 | } |
NaotoMorita | 19:3fae66745363 | 396 | |
NaotoMorita | 21:d6079def0473 | 397 | |
NaotoMorita | 21:d6079def0473 | 398 | void ScErrStateEKF::fuseErr2Nominal() |
NaotoMorita | 19:3fae66745363 | 399 | { |
NaotoMorita | 19:3fae66745363 | 400 | Matrix qerr(4,1); |
NaotoMorita | 19:3fae66745363 | 401 | qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1); |
NaotoMorita | 19:3fae66745363 | 402 | //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr)); |
NaotoMorita | 19:3fae66745363 | 403 | //qerr *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 404 | qhat = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 405 | errState(1,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 406 | errState(2,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 407 | errState(3,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 408 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 409 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 410 | |
osaka | 38:1f6532849c05 | 411 | vihat(1,1) += errState(10,1); |
osaka | 38:1f6532849c05 | 412 | vihat(2,1) += errState(11,1); |
osaka | 38:1f6532849c05 | 413 | vihat(3,1) += errState(12,1); |
osaka | 38:1f6532849c05 | 414 | errState(10,1) = 0.0f; |
osaka | 38:1f6532849c05 | 415 | errState(11,1) = 0.0f; |
osaka | 38:1f6532849c05 | 416 | errState(12,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 417 | } |
NaotoMorita | 19:3fae66745363 | 418 | |
NaotoMorita | 19:3fae66745363 | 419 | Matrix ScErrStateEKF::quatmultiply(Matrix q, Matrix r) |
NaotoMorita | 19:3fae66745363 | 420 | { |
NaotoMorita | 19:3fae66745363 | 421 | Matrix qout(4,1); |
NaotoMorita | 19:3fae66745363 | 422 | qout(1,1) = q(1,1)*r(1,1) - q(2,1)*r(2,1) - q(3,1)*r(3,1) - q(4,1)*r(4,1); |
NaotoMorita | 19:3fae66745363 | 423 | qout(2,1) = q(1,1)*r(2,1) + r(1,1)*q(2,1) + q(3,1)*r(4,1)-q(4,1)*r(3,1); |
NaotoMorita | 19:3fae66745363 | 424 | qout(3,1) = q(1,1)*r(3,1) + r(1,1)*q(3,1) + q(4,1)*r(2,1)-q(2,1)*r(4,1); |
NaotoMorita | 19:3fae66745363 | 425 | qout(4,1) = q(1,1)*r(4,1) + r(1,1)*q(4,1) + q(2,1)*r(3,1)-q(3,1)*r(2,1); |
NaotoMorita | 19:3fae66745363 | 426 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); |
NaotoMorita | 19:3fae66745363 | 427 | qout *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 428 | return qout; |
NaotoMorita | 19:3fae66745363 | 429 | } |
NaotoMorita | 19:3fae66745363 | 430 | |
NaotoMorita | 19:3fae66745363 | 431 | void ScErrStateEKF::computeDcm(Matrix& dcm, Matrix quat) |
NaotoMorita | 19:3fae66745363 | 432 | { |
NaotoMorita | 19:3fae66745363 | 433 | |
NaotoMorita | 19:3fae66745363 | 434 | float q0 = quat( 1, 1 ); |
NaotoMorita | 19:3fae66745363 | 435 | float q1 = quat( 2, 1 ); |
NaotoMorita | 19:3fae66745363 | 436 | float q2 = quat( 3, 1 ); |
NaotoMorita | 19:3fae66745363 | 437 | float q3 = quat( 4, 1 ); |
NaotoMorita | 19:3fae66745363 | 438 | |
NaotoMorita | 19:3fae66745363 | 439 | dcm(1,1) = q0*q0 + q1*q1 - q2*q2 - q3*q3; |
NaotoMorita | 19:3fae66745363 | 440 | dcm(1,2) = 2*(q1*q2 + q0*q3); |
NaotoMorita | 19:3fae66745363 | 441 | dcm(1,3) = 2*(q1*q3 - q0*q2); |
NaotoMorita | 19:3fae66745363 | 442 | dcm(2,1) = 2*(q1*q2 - q0*q3); |
NaotoMorita | 19:3fae66745363 | 443 | dcm(2,2) = q0*q0 - q1*q1 + q2*q2 - q3*q3; |
NaotoMorita | 19:3fae66745363 | 444 | dcm(2,3) = 2*(q2*q3 + q0*q1); |
NaotoMorita | 19:3fae66745363 | 445 | dcm(3,1) = 2*(q1*q3 + q0*q2); |
NaotoMorita | 19:3fae66745363 | 446 | dcm(3,2) = 2*(q2*q3 - q0*q1); |
NaotoMorita | 19:3fae66745363 | 447 | dcm(3,3) = q0*q0 - q1*q1 - q2*q2 + q3*q3; |
NaotoMorita | 19:3fae66745363 | 448 | |
NaotoMorita | 19:3fae66745363 | 449 | } |
NaotoMorita | 19:3fae66745363 | 450 | |
NaotoMorita | 19:3fae66745363 | 451 | void ScErrStateEKF::defineQhat(Vector3 align){ |
NaotoMorita | 19:3fae66745363 | 452 | float cos_z_2 = cosf(0.5f*align.z); |
NaotoMorita | 19:3fae66745363 | 453 | float cos_y_2 = cosf(0.5f*align.y); |
NaotoMorita | 19:3fae66745363 | 454 | float cos_x_2 = cosf(0.5f*align.x); |
NaotoMorita | 19:3fae66745363 | 455 | |
NaotoMorita | 19:3fae66745363 | 456 | float sin_z_2 = sinf(0.5f*align.z); |
NaotoMorita | 19:3fae66745363 | 457 | float sin_y_2 = sinf(0.5f*align.y); |
NaotoMorita | 19:3fae66745363 | 458 | float sin_x_2 = sinf(0.5f*align.x); |
NaotoMorita | 19:3fae66745363 | 459 | |
NaotoMorita | 19:3fae66745363 | 460 | // and now compute quaternion |
NaotoMorita | 19:3fae66745363 | 461 | qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 462 | qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
NaotoMorita | 19:3fae66745363 | 463 | qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 464 | qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 465 | } |
NaotoMorita | 19:3fae66745363 | 466 | |
NaotoMorita | 23:1509648c2318 | 467 | void ScErrStateEKF::computeVb(Vector3& vb) |
NaotoMorita | 23:1509648c2318 | 468 | { |
NaotoMorita | 23:1509648c2318 | 469 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 470 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 471 | Matrix vbmat = dcm*vihat; |
NaotoMorita | 23:1509648c2318 | 472 | vb.x = vbmat(1,1); |
NaotoMorita | 23:1509648c2318 | 473 | vb.y = vbmat(2,1); |
NaotoMorita | 23:1509648c2318 | 474 | vb.z = vbmat(3,1); |
NaotoMorita | 23:1509648c2318 | 475 | |
NaotoMorita | 23:1509648c2318 | 476 | } |
NaotoMorita | 23:1509648c2318 | 477 | |
NaotoMorita | 19:3fae66745363 | 478 | |
NaotoMorita | 19:3fae66745363 | 479 | |
NaotoMorita | 19:3fae66745363 | 480 | Vector3 ScErrStateEKF::calcDynAcc(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 481 | { |
NaotoMorita | 19:3fae66745363 | 482 | Matrix dcm(3,3); |
NaotoMorita | 19:3fae66745363 | 483 | computeDcm(dcm, qhat); |
NaotoMorita | 19:3fae66745363 | 484 | float _x, _y, _z; |
NaotoMorita | 19:3fae66745363 | 485 | _x = acc.x-(dcm( 1, 1 )*accref.x+dcm( 1, 2 )*accref.y+dcm( 1, 3 )*accref.z); |
NaotoMorita | 19:3fae66745363 | 486 | _y = acc.y-(dcm( 2, 1 )*accref.x+dcm( 2, 2 )*accref.y+dcm( 2, 3 )*accref.z); |
NaotoMorita | 19:3fae66745363 | 487 | _z = acc.z-(dcm( 3, 1 )*accref.x+dcm( 3, 2 )*accref.y+dcm( 3, 3 )*accref.z); |
NaotoMorita | 19:3fae66745363 | 488 | return Vector3(_x, _y, _z); |
NaotoMorita | 19:3fae66745363 | 489 | } |
NaotoMorita | 19:3fae66745363 | 490 | |
NaotoMorita | 19:3fae66745363 | 491 | |
NaotoMorita | 19:3fae66745363 | 492 | bool ScErrStateEKF::determinDynStatus(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 493 | { |
NaotoMorita | 19:3fae66745363 | 494 | histffunc[histffuncindex] = acc.Norm()*acc.Norm()-accref.Norm()*accref.Norm()-3.0f*sigma2a; |
NaotoMorita | 19:3fae66745363 | 495 | if(histffuncindex<9){ |
NaotoMorita | 19:3fae66745363 | 496 | histffuncindex += 1; |
NaotoMorita | 19:3fae66745363 | 497 | }else{ |
NaotoMorita | 19:3fae66745363 | 498 | histffuncindex =0; |
NaotoMorita | 19:3fae66745363 | 499 | } |
NaotoMorita | 19:3fae66745363 | 500 | aveffunc = 0; |
NaotoMorita | 19:3fae66745363 | 501 | for(int i = 1;i<10;i++){ |
NaotoMorita | 19:3fae66745363 | 502 | aveffunc += 1.0f/10.0f*histffunc[i]; |
NaotoMorita | 19:3fae66745363 | 503 | } |
NaotoMorita | 19:3fae66745363 | 504 | sigma2f = 1.0f/10.0f*(6.0f*sigma2a*sigma2a+4.0f*accref.Norm()*accref.Norm()*sigma2a); |
NaotoMorita | 19:3fae66745363 | 505 | |
NaotoMorita | 19:3fae66745363 | 506 | |
NaotoMorita | 19:3fae66745363 | 507 | dynacc = calcDynAcc(acc,accref); |
NaotoMorita | 19:3fae66745363 | 508 | bool dynCase = true; |
NaotoMorita | 19:3fae66745363 | 509 | if((dynacc.Norm()<0.005f) && (abs(acc.Norm()-accref.Norm())<0.005f)){dynCase = false;} |
NaotoMorita | 19:3fae66745363 | 510 | if(aveffunc<sqrt(sigma2f/0.99f) && abs(acc.Norm()-accref.Norm())<0.001f){dynCase = false;} |
NaotoMorita | 19:3fae66745363 | 511 | return dynCase; |
NaotoMorita | 19:3fae66745363 | 512 | |
NaotoMorita | 19:3fae66745363 | 513 | } |
NaotoMorita | 19:3fae66745363 | 514 | |
NaotoMorita | 22:7d84b8bc20b4 | 515 | /* |
NaotoMorita | 22:7d84b8bc20b4 | 516 | void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt) |
NaotoMorita | 22:7d84b8bc20b4 | 517 | { |
NaotoMorita | 22:7d84b8bc20b4 | 518 | gyro -= gyroBias; |
NaotoMorita | 22:7d84b8bc20b4 | 519 | acc -= accBias; |
NaotoMorita | 22:7d84b8bc20b4 | 520 | Matrix A(4,4); |
NaotoMorita | 22:7d84b8bc20b4 | 521 | A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z |
NaotoMorita | 22:7d84b8bc20b4 | 522 | << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y |
NaotoMorita | 22:7d84b8bc20b4 | 523 | << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x |
NaotoMorita | 22:7d84b8bc20b4 | 524 | << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ; |
NaotoMorita | 22:7d84b8bc20b4 | 525 | |
NaotoMorita | 22:7d84b8bc20b4 | 526 | Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 22:7d84b8bc20b4 | 527 | qhat = phi * qhat; |
NaotoMorita | 22:7d84b8bc20b4 | 528 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 22:7d84b8bc20b4 | 529 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 22:7d84b8bc20b4 | 530 | |
NaotoMorita | 22:7d84b8bc20b4 | 531 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 532 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 533 | vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f; |
NaotoMorita | 22:7d84b8bc20b4 | 534 | } |
NaotoMorita | 19:3fae66745363 | 535 | |
NaotoMorita | 22:7d84b8bc20b4 | 536 | void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt) |
NaotoMorita | 22:7d84b8bc20b4 | 537 | { |
NaotoMorita | 22:7d84b8bc20b4 | 538 | gyro -= gyroBias; |
NaotoMorita | 22:7d84b8bc20b4 | 539 | acc -= accBias; |
NaotoMorita | 22:7d84b8bc20b4 | 540 | Matrix A(nState,nState); |
NaotoMorita | 22:7d84b8bc20b4 | 541 | A(1,2) = gyro.z; |
NaotoMorita | 22:7d84b8bc20b4 | 542 | A(1,3) = -gyro.y; |
NaotoMorita | 22:7d84b8bc20b4 | 543 | A(2,1) = -gyro.z; |
NaotoMorita | 22:7d84b8bc20b4 | 544 | A(2,3) = gyro.x; |
NaotoMorita | 22:7d84b8bc20b4 | 545 | A(3,1) = gyro.y; |
NaotoMorita | 22:7d84b8bc20b4 | 546 | A(3,2) = -gyro.x; |
NaotoMorita | 22:7d84b8bc20b4 | 547 | A(1,4) = -0.5f; |
NaotoMorita | 22:7d84b8bc20b4 | 548 | A(2,5) = -0.5f; |
NaotoMorita | 22:7d84b8bc20b4 | 549 | A(3,6) = -0.5f; |
NaotoMorita | 22:7d84b8bc20b4 | 550 | |
NaotoMorita | 22:7d84b8bc20b4 | 551 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 552 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 553 | Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z); |
NaotoMorita | 22:7d84b8bc20b4 | 554 | Matrix baterm = -9.8f*MatrixMath::Transpose(dcm); |
NaotoMorita | 22:7d84b8bc20b4 | 555 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 22:7d84b8bc20b4 | 556 | for (int j = 1; i < 4; i++){ |
NaotoMorita | 22:7d84b8bc20b4 | 557 | A(i+9,j) = qeterm(i,j); |
NaotoMorita | 22:7d84b8bc20b4 | 558 | A(i+9,j+6) = baterm(i,j); |
NaotoMorita | 22:7d84b8bc20b4 | 559 | } |
NaotoMorita | 22:7d84b8bc20b4 | 560 | } |
NaotoMorita | 22:7d84b8bc20b4 | 561 | |
NaotoMorita | 22:7d84b8bc20b4 | 562 | Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 22:7d84b8bc20b4 | 563 | Matrix Qd = Q * att_dt + 0.5f*A*Q * att_dt * att_dt+ 0.5f*Q*MatrixMath::Transpose(A) * att_dt * att_dt; |
NaotoMorita | 22:7d84b8bc20b4 | 564 | errState = phi * errState; |
NaotoMorita | 22:7d84b8bc20b4 | 565 | Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd; |
NaotoMorita | 22:7d84b8bc20b4 | 566 | } |
NaotoMorita | 22:7d84b8bc20b4 | 567 | |
NaotoMorita | 22:7d84b8bc20b4 | 568 | void ScErrStateEKF::updateVelocityConstraints() |
NaotoMorita | 22:7d84b8bc20b4 | 569 | { |
NaotoMorita | 22:7d84b8bc20b4 | 570 | |
NaotoMorita | 22:7d84b8bc20b4 | 571 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 572 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 573 | Matrix H(2,nState); |
NaotoMorita | 22:7d84b8bc20b4 | 574 | |
NaotoMorita | 22:7d84b8bc20b4 | 575 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 22:7d84b8bc20b4 | 576 | Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 577 | for(int j = 1;j<4;j++){ |
NaotoMorita | 22:7d84b8bc20b4 | 578 | H(1,j) = -qeterm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 579 | H(2,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 580 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 581 | H(1,9+j) = -dcm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 582 | H(2,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 583 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 584 | } |
NaotoMorita | 22:7d84b8bc20b4 | 585 | |
NaotoMorita | 22:7d84b8bc20b4 | 586 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc); |
NaotoMorita | 22:7d84b8bc20b4 | 587 | Matrix z(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 588 | z << nomVb(1,1) << nomVb(3,1) ; |
NaotoMorita | 22:7d84b8bc20b4 | 589 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 22:7d84b8bc20b4 | 590 | errState = errState + corrVal; |
NaotoMorita | 22:7d84b8bc20b4 | 591 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K); |
NaotoMorita | 22:7d84b8bc20b4 | 592 | |
NaotoMorita | 22:7d84b8bc20b4 | 593 | } |
NaotoMorita | 22:7d84b8bc20b4 | 594 | |
NaotoMorita | 22:7d84b8bc20b4 | 595 | void ScErrStateEKF::updateConstraints(Vector3 gyro) |
NaotoMorita | 22:7d84b8bc20b4 | 596 | { |
NaotoMorita | 22:7d84b8bc20b4 | 597 | |
NaotoMorita | 22:7d84b8bc20b4 | 598 | gyro -=gyroBias; |
NaotoMorita | 22:7d84b8bc20b4 | 599 | |
NaotoMorita | 22:7d84b8bc20b4 | 600 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 601 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 602 | |
NaotoMorita | 22:7d84b8bc20b4 | 603 | Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z); |
NaotoMorita | 22:7d84b8bc20b4 | 604 | Matrix H(4,nState); |
NaotoMorita | 22:7d84b8bc20b4 | 605 | for(int i = 1; i<3; i++){ |
NaotoMorita | 22:7d84b8bc20b4 | 606 | for(int j = 1;j<4;j++){ |
NaotoMorita | 22:7d84b8bc20b4 | 607 | H(i,j) = qeterm(i,j); |
NaotoMorita | 22:7d84b8bc20b4 | 608 | } |
NaotoMorita | 22:7d84b8bc20b4 | 609 | } |
NaotoMorita | 22:7d84b8bc20b4 | 610 | H(1,4) = 1.0f*(dcm(1,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 611 | H(1,5) = 1.0f*(dcm(2,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 612 | H(1,6) = 1.0f*(dcm(3,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 613 | H(2,4) = 1.0f*(dcm(1,2)); |
NaotoMorita | 22:7d84b8bc20b4 | 614 | H(2,5) = 1.0f*(dcm(2,2)); |
NaotoMorita | 22:7d84b8bc20b4 | 615 | H(2,6) = 1.0f*(dcm(3,2)); |
NaotoMorita | 22:7d84b8bc20b4 | 616 | |
NaotoMorita | 22:7d84b8bc20b4 | 617 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 22:7d84b8bc20b4 | 618 | qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 619 | for(int j = 1;j<4;j++){ |
NaotoMorita | 22:7d84b8bc20b4 | 620 | H(3,j) = -qeterm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 621 | H(4,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 622 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 623 | H(3,9+j) = -dcm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 624 | H(4,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 625 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 626 | } |
NaotoMorita | 22:7d84b8bc20b4 | 627 | |
NaotoMorita | 22:7d84b8bc20b4 | 628 | Matrix R(4,4); |
NaotoMorita | 22:7d84b8bc20b4 | 629 | R(1,1) = Rgsc(1,1); |
NaotoMorita | 22:7d84b8bc20b4 | 630 | R(2,2) = Rgsc(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 631 | R(3,3) = Rvsc(1,1); |
NaotoMorita | 22:7d84b8bc20b4 | 632 | R(4,4) = Rvsc(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 633 | //R(5,5) = Rvsc(3,1); |
NaotoMorita | 22:7d84b8bc20b4 | 634 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 22:7d84b8bc20b4 | 635 | Matrix z(4,1); |
NaotoMorita | 22:7d84b8bc20b4 | 636 | z <<dcm(1,1)*gyro.x+dcm(2,1)*gyro.y+dcm(3,1)*gyro.z<< dcm(1,2)*gyro.x+dcm(2,2)*gyro.y+dcm(3,2)*gyro.z << nomVb(1,1) << nomVb(3,1) ; |
NaotoMorita | 22:7d84b8bc20b4 | 637 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 22:7d84b8bc20b4 | 638 | errState = errState + corrVal; |
NaotoMorita | 22:7d84b8bc20b4 | 639 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 22:7d84b8bc20b4 | 640 | } |
NaotoMorita | 22:7d84b8bc20b4 | 641 | |
NaotoMorita | 22:7d84b8bc20b4 | 642 | void ScErrStateEKF::computeVb(Vector3& vb) |
NaotoMorita | 22:7d84b8bc20b4 | 643 | { |
NaotoMorita | 22:7d84b8bc20b4 | 644 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 645 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 646 | Matrix vbmat = dcm*vihat; |
NaotoMorita | 22:7d84b8bc20b4 | 647 | vb.x = vbmat(1,1); |
NaotoMorita | 22:7d84b8bc20b4 | 648 | vb.y = vbmat(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 649 | vb.z = vbmat(3,1); |
NaotoMorita | 22:7d84b8bc20b4 | 650 | |
NaotoMorita | 22:7d84b8bc20b4 | 651 | } |
NaotoMorita | 26:73c3f58b9d70 | 652 | |
NaotoMorita | 26:73c3f58b9d70 | 653 | void ScErrStateEKF::updateMagMeasures(Vector3 mag) |
NaotoMorita | 26:73c3f58b9d70 | 654 | { |
NaotoMorita | 26:73c3f58b9d70 | 655 | //mag = mag/mag.Norm(); |
NaotoMorita | 26:73c3f58b9d70 | 656 | Matrix dcm(3,3); |
NaotoMorita | 26:73c3f58b9d70 | 657 | computeDcm(dcm, qhat); |
NaotoMorita | 26:73c3f58b9d70 | 658 | |
NaotoMorita | 26:73c3f58b9d70 | 659 | Matrix magvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 660 | magvec(1,1) = mag.x; |
NaotoMorita | 26:73c3f58b9d70 | 661 | magvec(2,1) = mag.y; |
NaotoMorita | 26:73c3f58b9d70 | 662 | magvec(3,1) = mag.z; |
NaotoMorita | 26:73c3f58b9d70 | 663 | |
NaotoMorita | 26:73c3f58b9d70 | 664 | Matrix magnedvec = MatrixMath::Transpose(dcm)*magvec; |
NaotoMorita | 26:73c3f58b9d70 | 665 | Matrix magrefmod(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 666 | magrefmod(1,1) = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1)); |
NaotoMorita | 26:73c3f58b9d70 | 667 | magrefmod(2,1) = 0.0f; |
NaotoMorita | 26:73c3f58b9d70 | 668 | magrefmod(3,1) = magnedvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 669 | |
NaotoMorita | 26:73c3f58b9d70 | 670 | Matrix mvec = dcm*magrefmod ; |
NaotoMorita | 26:73c3f58b9d70 | 671 | Matrix H(3,nState); |
NaotoMorita | 26:73c3f58b9d70 | 672 | H(1,2) = -2.0f*magvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 673 | H(1,3) = 2.0f*magvec(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 674 | H(2,1) = 2.0f*magvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 675 | H(2,3) = -2.0f*magvec(1,1); |
NaotoMorita | 26:73c3f58b9d70 | 676 | H(3,1) = -2.0f*magvec(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 677 | H(3,2) = 2.0f*magvec(1,1); |
NaotoMorita | 26:73c3f58b9d70 | 678 | Matrix Pm(nState,nState); |
NaotoMorita | 26:73c3f58b9d70 | 679 | for(int i = 1; i<4; i++){ |
NaotoMorita | 26:73c3f58b9d70 | 680 | for(int j = 1;j<4;j++){ |
NaotoMorita | 26:73c3f58b9d70 | 681 | Pm(i,j) = Phat(i,j); |
NaotoMorita | 26:73c3f58b9d70 | 682 | } |
NaotoMorita | 26:73c3f58b9d70 | 683 | } |
NaotoMorita | 26:73c3f58b9d70 | 684 | Matrix r3(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 685 | r3 << dcm(1,3)<< dcm(2,3) << dcm(3,3); |
NaotoMorita | 26:73c3f58b9d70 | 686 | Matrix kpart = r3*MatrixMath::Transpose(r3); |
NaotoMorita | 26:73c3f58b9d70 | 687 | Matrix Kmod(nState,nState); |
NaotoMorita | 26:73c3f58b9d70 | 688 | for(int i = 1; i<4; i++){ |
NaotoMorita | 26:73c3f58b9d70 | 689 | for(int j = 1;j<4;j++){ |
NaotoMorita | 26:73c3f58b9d70 | 690 | Kmod(i,j) = kpart(i,j); |
NaotoMorita | 26:73c3f58b9d70 | 691 | } |
NaotoMorita | 26:73c3f58b9d70 | 692 | } |
NaotoMorita | 26:73c3f58b9d70 | 693 | |
NaotoMorita | 26:73c3f58b9d70 | 694 | Matrix K = Kmod*(Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rm); |
NaotoMorita | 26:73c3f58b9d70 | 695 | Matrix z = magvec-mvec; |
NaotoMorita | 26:73c3f58b9d70 | 696 | errState = errState + K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 697 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rm)*MatrixMath::Transpose(K); |
NaotoMorita | 26:73c3f58b9d70 | 698 | } |
NaotoMorita | 26:73c3f58b9d70 | 699 | |
NaotoMorita | 26:73c3f58b9d70 | 700 | void ScErrStateEKF::updateVelocityConstraints() |
NaotoMorita | 26:73c3f58b9d70 | 701 | { |
NaotoMorita | 26:73c3f58b9d70 | 702 | |
NaotoMorita | 26:73c3f58b9d70 | 703 | Matrix dcm(3,3); |
NaotoMorita | 26:73c3f58b9d70 | 704 | computeDcm(dcm, qhat); |
NaotoMorita | 26:73c3f58b9d70 | 705 | Matrix H(2,nState); |
NaotoMorita | 26:73c3f58b9d70 | 706 | |
NaotoMorita | 26:73c3f58b9d70 | 707 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 26:73c3f58b9d70 | 708 | Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 26:73c3f58b9d70 | 709 | for(int j = 1;j<4;j++){ |
NaotoMorita | 26:73c3f58b9d70 | 710 | H(1,j) = -qeterm(1,j); |
NaotoMorita | 26:73c3f58b9d70 | 711 | H(2,j) = -qeterm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 712 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 713 | H(1,9+j) = -dcm(1,j); |
NaotoMorita | 26:73c3f58b9d70 | 714 | H(2,9+j) = -dcm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 715 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 716 | } |
NaotoMorita | 26:73c3f58b9d70 | 717 | |
NaotoMorita | 26:73c3f58b9d70 | 718 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc); |
NaotoMorita | 26:73c3f58b9d70 | 719 | Matrix z(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 720 | z << nomVb(1,1) << nomVb(3,1) ; |
NaotoMorita | 26:73c3f58b9d70 | 721 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 722 | errState = errState + corrVal; |
NaotoMorita | 26:73c3f58b9d70 | 723 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K); |
NaotoMorita | 26:73c3f58b9d70 | 724 | |
NaotoMorita | 26:73c3f58b9d70 | 725 | } |
NaotoMorita | 22:7d84b8bc20b4 | 726 | */ |
NaotoMorita | 22:7d84b8bc20b4 | 727 | |
NaotoMorita | 22:7d84b8bc20b4 | 728 |