Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.cpp@46:15988dc41923, 2021-10-28 (annotated)
- Committer:
- NaotoMorita
- Date:
- Thu Oct 28 09:44:34 2021 +0000
- Revision:
- 46:15988dc41923
- Parent:
- 45:df4618814803
- Child:
- 47:2467de40951f
newer
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NaotoMorita | 44:7d82e63b6a86 | 1 | #include "solaESKF.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 | |
NaotoMorita | 19:3fae66745363 | 6 | |
NaotoMorita | 44:7d82e63b6a86 | 7 | solaESKF::solaESKF() |
NaotoMorita | 46:15988dc41923 | 8 | :pihat(3,1),vihat(3,1),qhat(4,1),accBias(3,1),gyroBias(3,1),gravity(3,1),errState(18,1),Phat(18,18),Q(18,18) |
NaotoMorita | 19:3fae66745363 | 9 | { |
NaotoMorita | 46:15988dc41923 | 10 | pihat << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 11 | vihat << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 12 | qhat << 1.0f << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 13 | accBias << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 14 | gyroBias << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 15 | gravity << 0.0f << 0.0f << 9.8f; |
NaotoMorita | 46:15988dc41923 | 16 | |
NaotoMorita | 46:15988dc41923 | 17 | for (int i = 1; i < 19; i++){ |
NaotoMorita | 46:15988dc41923 | 18 | errState(i,1) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 19 | for (int j = 1; j < 19; 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 | 44:7d82e63b6a86 | 25 | |
NaotoMorita | 21:d6079def0473 | 26 | nState = errState.getRows(); |
NaotoMorita | 46:15988dc41923 | 27 | setBlockDiag(Phat,0.1f,1,3);//position |
NaotoMorita | 46:15988dc41923 | 28 | setBlockDiag(Phat,0.1f,4,6);//velocity |
NaotoMorita | 46:15988dc41923 | 29 | setBlockDiag(Phat,0.1f,7,9);//angle error |
NaotoMorita | 46:15988dc41923 | 30 | setBlockDiag(Phat,0.01f,10,12);//acc bias |
NaotoMorita | 46:15988dc41923 | 31 | setBlockDiag(Phat,0.01f,13,15);//gyro bias |
NaotoMorita | 46:15988dc41923 | 32 | setBlockDiag(Phat,0.00001f,16,18);//gravity |
NaotoMorita | 46:15988dc41923 | 33 | setBlockDiag(Q,0.0001f,4,6);//velocity |
NaotoMorita | 46:15988dc41923 | 34 | setBlockDiag(Q,0.00001f,7,9);//angle error |
NaotoMorita | 46:15988dc41923 | 35 | setBlockDiag(Q,0.001f,10,12);//acc bias |
NaotoMorita | 46:15988dc41923 | 36 | setBlockDiag(Q,0.001f,13,15);//gyro bias //positionとgravityはQ項なし |
NaotoMorita | 19:3fae66745363 | 37 | |
NaotoMorita | 19:3fae66745363 | 38 | |
NaotoMorita | 19:3fae66745363 | 39 | } |
NaotoMorita | 19:3fae66745363 | 40 | |
NaotoMorita | 44:7d82e63b6a86 | 41 | void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt) |
NaotoMorita | 19:3fae66745363 | 42 | { |
NaotoMorita | 44:7d82e63b6a86 | 43 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 44 | Matrix accm = acc - accBias; |
NaotoMorita | 44:7d82e63b6a86 | 45 | |
NaotoMorita | 44:7d82e63b6a86 | 46 | Matrix qint(4,1); |
NaotoMorita | 46:15988dc41923 | 47 | 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 | 48 | qhat = quatmultiply(qhat,qint); |
NaotoMorita | 19:3fae66745363 | 49 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 50 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 51 | |
NaotoMorita | 23:1509648c2318 | 52 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 53 | computeDcm(dcm, qhat); |
NaotoMorita | 46:15988dc41923 | 54 | Matrix accned = dcm*accm+gravity; |
NaotoMorita | 44:7d82e63b6a86 | 55 | vihat += accned*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 56 | |
NaotoMorita | 44:7d82e63b6a86 | 57 | pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt; |
NaotoMorita | 19:3fae66745363 | 58 | } |
NaotoMorita | 19:3fae66745363 | 59 | |
NaotoMorita | 44:7d82e63b6a86 | 60 | void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt) |
NaotoMorita | 23:1509648c2318 | 61 | { |
NaotoMorita | 44:7d82e63b6a86 | 62 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 63 | Matrix accm = acc - accBias; |
NaotoMorita | 23:1509648c2318 | 64 | |
NaotoMorita | 23:1509648c2318 | 65 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 66 | computeDcm(dcm, qhat); |
NaotoMorita | 46:15988dc41923 | 67 | Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1))*att_dt; |
NaotoMorita | 46:15988dc41923 | 68 | Matrix a2v2 = 0.5f*a2v*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 69 | |
NaotoMorita | 44:7d82e63b6a86 | 70 | Matrix Fx(nState,nState); |
NaotoMorita | 44:7d82e63b6a86 | 71 | //position |
NaotoMorita | 44:7d82e63b6a86 | 72 | Fx(1,1) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 73 | Fx(2,2) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 74 | Fx(3,3) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 75 | Fx(1,4) = 1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 76 | Fx(2,5) = 1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 77 | Fx(3,6) = 1.0f*att_dt; |
NaotoMorita | 46:15988dc41923 | 78 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 46:15988dc41923 | 79 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 46:15988dc41923 | 80 | Fx(i,j+6) = a2v2(i,j); |
NaotoMorita | 46:15988dc41923 | 81 | Fx(i,j+9) = -0.5f*dcm(i,j)*att_dt*att_dt; |
NaotoMorita | 46:15988dc41923 | 82 | } |
NaotoMorita | 46:15988dc41923 | 83 | Fx(i,i+15) = 0.5f*att_dt*att_dt; |
NaotoMorita | 46:15988dc41923 | 84 | } |
NaotoMorita | 46:15988dc41923 | 85 | |
NaotoMorita | 44:7d82e63b6a86 | 86 | |
NaotoMorita | 44:7d82e63b6a86 | 87 | //velocity |
NaotoMorita | 44:7d82e63b6a86 | 88 | Fx(4,4) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 89 | Fx(5,5) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 90 | Fx(6,6) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 91 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 92 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 44:7d82e63b6a86 | 93 | Fx(i+3,j+6) = a2v(i,j); |
NaotoMorita | 44:7d82e63b6a86 | 94 | Fx(i+3,j+9) = -dcm(i,j)*att_dt; |
NaotoMorita | 46:15988dc41923 | 95 | Fx(i+3,j+12) = -a2v2(i,j); |
NaotoMorita | 23:1509648c2318 | 96 | } |
NaotoMorita | 23:1509648c2318 | 97 | } |
NaotoMorita | 44:7d82e63b6a86 | 98 | Fx(4,16) = 1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 99 | Fx(5,17) = 1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 100 | Fx(6,18) = 1.0f*att_dt; |
NaotoMorita | 23:1509648c2318 | 101 | |
NaotoMorita | 44:7d82e63b6a86 | 102 | //angulat error |
NaotoMorita | 46:15988dc41923 | 103 | Fx(7,7) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 104 | Fx(8,8) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 105 | Fx(9,9) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 106 | Fx(7,8) = gyrom(3,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 107 | Fx(7,9) = -gyrom(2,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 108 | Fx(8,7) = -gyrom(3,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 109 | Fx(8,9) = gyrom(1,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 110 | Fx(9,7) = gyrom(2,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 111 | Fx(9,8) = -gyrom(1,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 112 | Fx(7,13) = -1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 113 | Fx(8,14) = -1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 114 | Fx(9,15) = -1.0f*att_dt; |
NaotoMorita | 25:07ac5c6cd61c | 115 | |
NaotoMorita | 44:7d82e63b6a86 | 116 | //acc bias |
NaotoMorita | 44:7d82e63b6a86 | 117 | Fx(10,10) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 118 | Fx(11,11) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 119 | Fx(12,12) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 120 | |
NaotoMorita | 44:7d82e63b6a86 | 121 | //gyro bias |
NaotoMorita | 44:7d82e63b6a86 | 122 | Fx(13,13) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 123 | Fx(14,14) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 124 | Fx(15,15) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 125 | |
NaotoMorita | 44:7d82e63b6a86 | 126 | //gravity bias |
NaotoMorita | 44:7d82e63b6a86 | 127 | Fx(16,16) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 128 | Fx(17,17) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 129 | Fx(18,18) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 130 | |
NaotoMorita | 44:7d82e63b6a86 | 131 | errState = Fx * errState; |
NaotoMorita | 46:15988dc41923 | 132 | Matrix Qi(nState,nState); |
NaotoMorita | 46:15988dc41923 | 133 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 46:15988dc41923 | 134 | Qi(i,i) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 135 | } |
NaotoMorita | 46:15988dc41923 | 136 | for (int i = 4; i < 10; i++){ |
NaotoMorita | 46:15988dc41923 | 137 | Qi(i,i) = Q(i,i)*att_dt*att_dt; |
NaotoMorita | 46:15988dc41923 | 138 | } |
NaotoMorita | 46:15988dc41923 | 139 | for (int i = 10; i < 16; i++){ |
NaotoMorita | 46:15988dc41923 | 140 | Qi(i,i) = Q(i,i)*att_dt; |
NaotoMorita | 46:15988dc41923 | 141 | } |
NaotoMorita | 46:15988dc41923 | 142 | for (int i = 16; i < 19; i++){ |
NaotoMorita | 46:15988dc41923 | 143 | Qi(i,i) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 144 | } |
NaotoMorita | 46:15988dc41923 | 145 | Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Qi; |
NaotoMorita | 25:07ac5c6cd61c | 146 | } |
NaotoMorita | 25:07ac5c6cd61c | 147 | |
NaotoMorita | 46:15988dc41923 | 148 | void solaESKF::updateAccConstraints(Matrix acc,Matrix R) |
NaotoMorita | 46:15988dc41923 | 149 | { |
NaotoMorita | 46:15988dc41923 | 150 | Matrix accm = acc - accBias; |
NaotoMorita | 46:15988dc41923 | 151 | Matrix tdcm(3,3); |
NaotoMorita | 46:15988dc41923 | 152 | computeDcm(tdcm, qhat); |
NaotoMorita | 46:15988dc41923 | 153 | tdcm = MatrixMath::Transpose(tdcm); |
NaotoMorita | 46:15988dc41923 | 154 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 46:15988dc41923 | 155 | Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 46:15988dc41923 | 156 | |
NaotoMorita | 46:15988dc41923 | 157 | Matrix H(3,nState); |
NaotoMorita | 46:15988dc41923 | 158 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 46:15988dc41923 | 159 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 46:15988dc41923 | 160 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 46:15988dc41923 | 161 | H(i,j+15) = tdcm(i,j); |
NaotoMorita | 46:15988dc41923 | 162 | } |
NaotoMorita | 46:15988dc41923 | 163 | } |
NaotoMorita | 46:15988dc41923 | 164 | H(1,10) = -1.0f; |
NaotoMorita | 46:15988dc41923 | 165 | H(2,11) = -1.0f; |
NaotoMorita | 46:15988dc41923 | 166 | H(3,12) = -1.0f; |
NaotoMorita | 46:15988dc41923 | 167 | |
NaotoMorita | 46:15988dc41923 | 168 | Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 46:15988dc41923 | 169 | Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 46:15988dc41923 | 170 | |
NaotoMorita | 46:15988dc41923 | 171 | Matrix z = -accm-tdcm*gravity; |
NaotoMorita | 46:15988dc41923 | 172 | errState = K * z; |
NaotoMorita | 46:15988dc41923 | 173 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 46:15988dc41923 | 174 | } |
NaotoMorita | 46:15988dc41923 | 175 | |
NaotoMorita | 46:15988dc41923 | 176 | void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R) |
NaotoMorita | 46:15988dc41923 | 177 | { |
NaotoMorita | 46:15988dc41923 | 178 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 46:15988dc41923 | 179 | Matrix dcm(3,3); |
NaotoMorita | 46:15988dc41923 | 180 | computeDcm(dcm, qhat); |
NaotoMorita | 46:15988dc41923 | 181 | Matrix a2v = -dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1)); |
NaotoMorita | 46:15988dc41923 | 182 | |
NaotoMorita | 46:15988dc41923 | 183 | Matrix H(2,nState); |
NaotoMorita | 46:15988dc41923 | 184 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 46:15988dc41923 | 185 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 46:15988dc41923 | 186 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 46:15988dc41923 | 187 | H(i,j+12) = -dcm(i,j); |
NaotoMorita | 46:15988dc41923 | 188 | } |
NaotoMorita | 46:15988dc41923 | 189 | } |
NaotoMorita | 46:15988dc41923 | 190 | |
NaotoMorita | 46:15988dc41923 | 191 | Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 46:15988dc41923 | 192 | Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A)); |
NaotoMorita | 46:15988dc41923 | 193 | |
NaotoMorita | 46:15988dc41923 | 194 | Matrix z3 = -dcm*gyrom; |
NaotoMorita | 46:15988dc41923 | 195 | Matrix z(2,1); |
NaotoMorita | 46:15988dc41923 | 196 | z << z3(1,1) << z3(2,1); |
NaotoMorita | 46:15988dc41923 | 197 | errState = K * z; |
NaotoMorita | 46:15988dc41923 | 198 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 46:15988dc41923 | 199 | } |
NaotoMorita | 46:15988dc41923 | 200 | |
NaotoMorita | 46:15988dc41923 | 201 | |
NaotoMorita | 46:15988dc41923 | 202 | void solaESKF::updateGPSVelocity(Matrix velgps,Matrix R) |
NaotoMorita | 19:3fae66745363 | 203 | { |
osaka | 40:119792aa6d3b | 204 | |
NaotoMorita | 43:cbc2c2d65131 | 205 | Matrix H(3,nState); |
NaotoMorita | 46:15988dc41923 | 206 | H(1,4) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 207 | H(2,5) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 208 | H(3,6) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 209 | |
NaotoMorita | 46:15988dc41923 | 210 | Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 46:15988dc41923 | 211 | Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 46:15988dc41923 | 212 | Matrix z(3,1); |
NaotoMorita | 46:15988dc41923 | 213 | z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << velgps(3,1) - vihat(3,1); |
NaotoMorita | 46:15988dc41923 | 214 | errState = K * z; |
NaotoMorita | 46:15988dc41923 | 215 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 46:15988dc41923 | 216 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 46:15988dc41923 | 217 | } |
NaotoMorita | 43:cbc2c2d65131 | 218 | |
NaotoMorita | 46:15988dc41923 | 219 | void solaESKF::updateGPSPosition(Matrix posgps,Matrix R) |
NaotoMorita | 46:15988dc41923 | 220 | { |
NaotoMorita | 46:15988dc41923 | 221 | Matrix H(3,nState); |
NaotoMorita | 46:15988dc41923 | 222 | H(1,1) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 223 | H(2,2) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 224 | H(3,3) = 1.0f; |
osaka | 40:119792aa6d3b | 225 | |
NaotoMorita | 46:15988dc41923 | 226 | Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 46:15988dc41923 | 227 | Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 46:15988dc41923 | 228 | //Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 43:cbc2c2d65131 | 229 | Matrix z(3,1); |
NaotoMorita | 46:15988dc41923 | 230 | z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << posgps(3,1) - pihat(3,1); |
NaotoMorita | 46:15988dc41923 | 231 | errState = K * z; |
NaotoMorita | 46:15988dc41923 | 232 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 46:15988dc41923 | 233 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 19:3fae66745363 | 234 | } |
NaotoMorita | 46:15988dc41923 | 235 | |
NaotoMorita | 46:15988dc41923 | 236 | void solaESKF::updateGPS(Matrix posgps,Matrix velgps,Matrix R) |
NaotoMorita | 46:15988dc41923 | 237 | { |
NaotoMorita | 46:15988dc41923 | 238 | |
NaotoMorita | 46:15988dc41923 | 239 | Matrix H(6,nState); |
NaotoMorita | 46:15988dc41923 | 240 | H(1,1) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 241 | H(2,2) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 242 | H(3,3) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 243 | H(4,4) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 244 | H(5,5) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 245 | H(6,6) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 246 | |
NaotoMorita | 46:15988dc41923 | 247 | Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 46:15988dc41923 | 248 | Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(6))*MatrixMath::Transpose(A)); |
NaotoMorita | 46:15988dc41923 | 249 | Matrix z(6,1); |
NaotoMorita | 46:15988dc41923 | 250 | z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << posgps(3,1) - pihat(3,1) << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << velgps(3,1) - vihat(3,1); |
NaotoMorita | 46:15988dc41923 | 251 | errState = K * z; |
NaotoMorita | 46:15988dc41923 | 252 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 46:15988dc41923 | 253 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 46:15988dc41923 | 254 | } |
NaotoMorita | 46:15988dc41923 | 255 | |
NaotoMorita | 44:7d82e63b6a86 | 256 | Matrix solaESKF::computeAngles() |
NaotoMorita | 25:07ac5c6cd61c | 257 | { |
NaotoMorita | 25:07ac5c6cd61c | 258 | |
NaotoMorita | 44:7d82e63b6a86 | 259 | Matrix euler(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 260 | 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 | 261 | euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1))); |
NaotoMorita | 44:7d82e63b6a86 | 262 | 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 | 263 | return euler; |
NaotoMorita | 19:3fae66745363 | 264 | } |
NaotoMorita | 19:3fae66745363 | 265 | |
NaotoMorita | 21:d6079def0473 | 266 | |
NaotoMorita | 44:7d82e63b6a86 | 267 | void solaESKF::fuseErr2Nominal() |
NaotoMorita | 19:3fae66745363 | 268 | { |
NaotoMorita | 44:7d82e63b6a86 | 269 | //position |
NaotoMorita | 44:7d82e63b6a86 | 270 | pihat(1,1) += errState(1,1); |
NaotoMorita | 44:7d82e63b6a86 | 271 | pihat(2,1) += errState(2,1); |
NaotoMorita | 44:7d82e63b6a86 | 272 | pihat(3,1) += errState(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 273 | |
NaotoMorita | 44:7d82e63b6a86 | 274 | //velocity |
NaotoMorita | 44:7d82e63b6a86 | 275 | vihat(1,1) += errState(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 276 | vihat(2,1) += errState(5,1); |
NaotoMorita | 44:7d82e63b6a86 | 277 | vihat(3,1) += errState(6,1); |
NaotoMorita | 44:7d82e63b6a86 | 278 | |
NaotoMorita | 44:7d82e63b6a86 | 279 | //angle error |
NaotoMorita | 19:3fae66745363 | 280 | Matrix qerr(4,1); |
NaotoMorita | 46:15988dc41923 | 281 | qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1); |
NaotoMorita | 19:3fae66745363 | 282 | qhat = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 283 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 284 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 285 | |
NaotoMorita | 44:7d82e63b6a86 | 286 | //acc bias |
NaotoMorita | 44:7d82e63b6a86 | 287 | accBias(1,1) += errState(10,1); |
NaotoMorita | 44:7d82e63b6a86 | 288 | accBias(2,1) += errState(11,1); |
NaotoMorita | 44:7d82e63b6a86 | 289 | accBias(3,1) += errState(12,1); |
NaotoMorita | 44:7d82e63b6a86 | 290 | |
NaotoMorita | 44:7d82e63b6a86 | 291 | //gyro bias |
NaotoMorita | 44:7d82e63b6a86 | 292 | gyroBias(1,1) += errState(13,1); |
NaotoMorita | 44:7d82e63b6a86 | 293 | gyroBias(2,1) += errState(14,1); |
NaotoMorita | 44:7d82e63b6a86 | 294 | gyroBias(3,1) += errState(15,1); |
NaotoMorita | 44:7d82e63b6a86 | 295 | |
NaotoMorita | 44:7d82e63b6a86 | 296 | //gravity bias |
NaotoMorita | 44:7d82e63b6a86 | 297 | gravity(1,1) += errState(16,1); |
NaotoMorita | 44:7d82e63b6a86 | 298 | gravity(2,1) += errState(17,1); |
NaotoMorita | 44:7d82e63b6a86 | 299 | gravity(3,1) += errState(18,1); |
NaotoMorita | 44:7d82e63b6a86 | 300 | |
NaotoMorita | 19:3fae66745363 | 301 | } |
NaotoMorita | 19:3fae66745363 | 302 | |
NaotoMorita | 44:7d82e63b6a86 | 303 | Matrix solaESKF::quatmultiply(Matrix p, Matrix q) |
NaotoMorita | 19:3fae66745363 | 304 | { |
NaotoMorita | 44:7d82e63b6a86 | 305 | |
NaotoMorita | 19:3fae66745363 | 306 | Matrix qout(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 307 | 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 | 308 | 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 | 309 | 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 | 310 | 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 | 311 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); |
NaotoMorita | 19:3fae66745363 | 312 | qout *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 313 | return qout; |
NaotoMorita | 19:3fae66745363 | 314 | } |
NaotoMorita | 19:3fae66745363 | 315 | |
NaotoMorita | 44:7d82e63b6a86 | 316 | void solaESKF::computeDcm(Matrix& dcm, Matrix quat) |
NaotoMorita | 19:3fae66745363 | 317 | { |
NaotoMorita | 19:3fae66745363 | 318 | |
NaotoMorita | 44:7d82e63b6a86 | 319 | 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 | 320 | dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 321 | dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 322 | dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 323 | 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 | 324 | dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 325 | dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 326 | dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 327 | 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 | 328 | |
NaotoMorita | 19:3fae66745363 | 329 | } |
NaotoMorita | 19:3fae66745363 | 330 | |
NaotoMorita | 44:7d82e63b6a86 | 331 | void solaESKF::setQhat(float ex,float ey,float ez) |
NaotoMorita | 44:7d82e63b6a86 | 332 | { |
NaotoMorita | 44:7d82e63b6a86 | 333 | float cos_z_2 = cosf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 334 | float cos_y_2 = cosf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 335 | float cos_x_2 = cosf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 336 | |
NaotoMorita | 44:7d82e63b6a86 | 337 | float sin_z_2 = sinf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 338 | float sin_y_2 = sinf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 339 | float sin_x_2 = sinf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 340 | |
NaotoMorita | 19:3fae66745363 | 341 | // and now compute quaternion |
NaotoMorita | 19:3fae66745363 | 342 | qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 343 | qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
NaotoMorita | 19:3fae66745363 | 344 | qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 345 | qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 346 | } |
NaotoMorita | 19:3fae66745363 | 347 | |
NaotoMorita | 44:7d82e63b6a86 | 348 | void solaESKF::setGravity(float gx,float gy,float gz) |
NaotoMorita | 23:1509648c2318 | 349 | { |
NaotoMorita | 44:7d82e63b6a86 | 350 | gravity(1,1) = gx; |
NaotoMorita | 44:7d82e63b6a86 | 351 | gravity(2,1) = gy; |
NaotoMorita | 44:7d82e63b6a86 | 352 | gravity(3,1) = gz; |
NaotoMorita | 23:1509648c2318 | 353 | } |
NaotoMorita | 23:1509648c2318 | 354 | |
NaotoMorita | 19:3fae66745363 | 355 | |
NaotoMorita | 19:3fae66745363 | 356 | |
NaotoMorita | 44:7d82e63b6a86 | 357 | void solaESKF::setDiag(Matrix& mat, float val){ |
NaotoMorita | 44:7d82e63b6a86 | 358 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 359 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 360 | } |
NaotoMorita | 22:7d84b8bc20b4 | 361 | } |
NaotoMorita | 22:7d84b8bc20b4 | 362 | |
NaotoMorita | 45:df4618814803 | 363 | void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){ |
NaotoMorita | 44:7d82e63b6a86 | 364 | for (int i = startIndex; i < endIndex+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 365 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 366 | } |
NaotoMorita | 22:7d84b8bc20b4 | 367 | } |