HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

solaESKF.cpp@61:5e5c4fe12440, 2021-11-16 (annotated)

Committer:
NaotoMorita
Date:
Tue Nov 16 13:56:44 2021 +0000
Revision:
61:5e5c4fe12440
Parent:
60:f4b4231a8d3f
Child:
62:5519d34eb6e8
Child:
64:f5b6256726f3
axis modified

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 61:5e5c4fe12440 151
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 59:03fe5e16a33c 157 for(int j = 1; 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 61:5e5c4fe12440 163 Matrix r3(3,1);
NaotoMorita 61:5e5c4fe12440 164 r3 << tdcm(1,3)<< tdcm(2,3) << tdcm(3,3);
NaotoMorita 61:5e5c4fe12440 165 Matrix kpart = r3*MatrixMath::Transpose(r3);
NaotoMorita 61:5e5c4fe12440 166 Matrix Pm(nState,nState);
NaotoMorita 61:5e5c4fe12440 167 for(int i = 7; i<10; i++){
NaotoMorita 61:5e5c4fe12440 168 for(int j = 7;j<10;j++){
NaotoMorita 61:5e5c4fe12440 169 Pm(i,j) = Phat(i,j);
NaotoMorita 61:5e5c4fe12440 170 }
NaotoMorita 59:03fe5e16a33c 171 }
NaotoMorita 59:03fe5e16a33c 172
NaotoMorita 61:5e5c4fe12440 173 Matrix K = (Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+R);
NaotoMorita 61:5e5c4fe12440 174 Matrix Kmod(3,3);
NaotoMorita 61:5e5c4fe12440 175 for(int i = 1; i<4; i++){
NaotoMorita 61:5e5c4fe12440 176 for(int j = 1;j<4;j++){
NaotoMorita 61:5e5c4fe12440 177 Kmod(i,j) = K(i+6,j);
NaotoMorita 61:5e5c4fe12440 178 }
NaotoMorita 61:5e5c4fe12440 179 }
NaotoMorita 61:5e5c4fe12440 180 Kmod = kpart*Kmod;
NaotoMorita 61:5e5c4fe12440 181 for(int i = 1; i<nState+1; i++){
NaotoMorita 61:5e5c4fe12440 182 for(int j = 1;j<4;j++){
NaotoMorita 61:5e5c4fe12440 183 if(i>6 && i<10){
NaotoMorita 61:5e5c4fe12440 184 K(i,j) = Kmod(i-6,j);
NaotoMorita 61:5e5c4fe12440 185 }else{
NaotoMorita 61:5e5c4fe12440 186 K(i,j) = 0.0f;
NaotoMorita 61:5e5c4fe12440 187 }
NaotoMorita 61:5e5c4fe12440 188 }
NaotoMorita 61:5e5c4fe12440 189 }
NaotoMorita 61:5e5c4fe12440 190
NaotoMorita 61:5e5c4fe12440 191 Matrix z(3,1);
NaotoMorita 61:5e5c4fe12440 192 z << -(magned(1,1) - hx) << -magned(2,1) <<-(magned(3,1) - hz) ;
NaotoMorita 61:5e5c4fe12440 193 //twelite.printf("%f %f %f\r\n",z(1,1),z(2,1),z(3,1));
NaotoMorita 46:15988dc41923 194 errState = K * z;
NaotoMorita 50:dadad0567349 195 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 58:93ba28cf5cb3 196
NaotoMorita 58:93ba28cf5cb3 197 fuseErr2Nominal();
NaotoMorita 58:93ba28cf5cb3 198 }
NaotoMorita 58:93ba28cf5cb3 199
NaotoMorita 58:93ba28cf5cb3 200
NaotoMorita 59:03fe5e16a33c 201 void solaESKF::updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R)
NaotoMorita 58:93ba28cf5cb3 202 {
NaotoMorita 59:03fe5e16a33c 203 Matrix H(5,nState);
NaotoMorita 46:15988dc41923 204 H(1,1) = 1.0f;
NaotoMorita 46:15988dc41923 205 H(2,2) = 1.0f;
NaotoMorita 56:c10f1168bd4a 206 H(3,3) = 1.0f;
NaotoMorita 56:c10f1168bd4a 207 H(4,4) = 1.0f;
NaotoMorita 56:c10f1168bd4a 208 H(5,5) = 1.0f;
NaotoMorita 53:8b551358a7e3 209 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 210 Matrix z(5,1);
NaotoMorita 59:03fe5e16a33c 211 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 212 errState = K * z;
NaotoMorita 58:93ba28cf5cb3 213 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 58:93ba28cf5cb3 214 fuseErr2Nominal();
NaotoMorita 58:93ba28cf5cb3 215 }
NaotoMorita 58:93ba28cf5cb3 216
NaotoMorita 46:15988dc41923 217
NaotoMorita 44:7d82e63b6a86 218 Matrix solaESKF::computeAngles()
NaotoMorita 25:07ac5c6cd61c 219 {
NaotoMorita 25:07ac5c6cd61c 220
NaotoMorita 44:7d82e63b6a86 221 Matrix euler(3,1);
NaotoMorita 44:7d82e63b6a86 222 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 223 euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1)));
NaotoMorita 44:7d82e63b6a86 224 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 225 return euler;
NaotoMorita 19:3fae66745363 226 }
NaotoMorita 19:3fae66745363 227
NaotoMorita 21:d6079def0473 228
NaotoMorita 44:7d82e63b6a86 229 void solaESKF::fuseErr2Nominal()
NaotoMorita 19:3fae66745363 230 {
NaotoMorita 44:7d82e63b6a86 231 //position
NaotoMorita 44:7d82e63b6a86 232 pihat(1,1) += errState(1,1);
NaotoMorita 44:7d82e63b6a86 233 pihat(2,1) += errState(2,1);
NaotoMorita 44:7d82e63b6a86 234 pihat(3,1) += errState(3,1);
NaotoMorita 44:7d82e63b6a86 235
NaotoMorita 44:7d82e63b6a86 236 //velocity
NaotoMorita 44:7d82e63b6a86 237 vihat(1,1) += errState(4,1);
NaotoMorita 44:7d82e63b6a86 238 vihat(2,1) += errState(5,1);
NaotoMorita 44:7d82e63b6a86 239 vihat(3,1) += errState(6,1);
NaotoMorita 44:7d82e63b6a86 240
NaotoMorita 44:7d82e63b6a86 241 //angle error
NaotoMorita 19:3fae66745363 242 Matrix qerr(4,1);
NaotoMorita 46:15988dc41923 243 qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1);
NaotoMorita 19:3fae66745363 244 qhat = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 245 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 246 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 247
NaotoMorita 44:7d82e63b6a86 248 //acc bias
NaotoMorita 44:7d82e63b6a86 249 accBias(1,1) += errState(10,1);
NaotoMorita 44:7d82e63b6a86 250 accBias(2,1) += errState(11,1);
NaotoMorita 44:7d82e63b6a86 251 accBias(3,1) += errState(12,1);
NaotoMorita 44:7d82e63b6a86 252
NaotoMorita 44:7d82e63b6a86 253 //gyro bias
NaotoMorita 44:7d82e63b6a86 254 gyroBias(1,1) += errState(13,1);
NaotoMorita 44:7d82e63b6a86 255 gyroBias(2,1) += errState(14,1);
NaotoMorita 44:7d82e63b6a86 256 gyroBias(3,1) += errState(15,1);
NaotoMorita 44:7d82e63b6a86 257
NaotoMorita 44:7d82e63b6a86 258 //gravity bias
NaotoMorita 59:03fe5e16a33c 259 gravity(1,1) = 0.0f;
NaotoMorita 59:03fe5e16a33c 260 gravity(2,1) = 0.0f;
NaotoMorita 59:03fe5e16a33c 261 gravity(3,1) += errState(16,1);
NaotoMorita 47:2467de40951f 262
NaotoMorita 56:c10f1168bd4a 263
NaotoMorita 58:93ba28cf5cb3 264 for (int i = 1; i < nState+1; i++){
NaotoMorita 47:2467de40951f 265 errState(i,1) = 0.0f;
NaotoMorita 47:2467de40951f 266 }
NaotoMorita 44:7d82e63b6a86 267
NaotoMorita 19:3fae66745363 268 }
NaotoMorita 19:3fae66745363 269
NaotoMorita 44:7d82e63b6a86 270 Matrix solaESKF::quatmultiply(Matrix p, Matrix q)
NaotoMorita 19:3fae66745363 271 {
NaotoMorita 44:7d82e63b6a86 272
NaotoMorita 19:3fae66745363 273 Matrix qout(4,1);
NaotoMorita 44:7d82e63b6a86 274 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 275 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 276 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 277 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 278 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout));
NaotoMorita 19:3fae66745363 279 qout *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 280 return qout;
NaotoMorita 19:3fae66745363 281 }
NaotoMorita 19:3fae66745363 282
NaotoMorita 44:7d82e63b6a86 283 void solaESKF::computeDcm(Matrix& dcm, Matrix quat)
NaotoMorita 19:3fae66745363 284 {
NaotoMorita 19:3fae66745363 285
NaotoMorita 44:7d82e63b6a86 286 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 287 dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1));
NaotoMorita 44:7d82e63b6a86 288 dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1));
NaotoMorita 44:7d82e63b6a86 289 dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1));
NaotoMorita 44:7d82e63b6a86 290 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 291 dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1));
NaotoMorita 44:7d82e63b6a86 292 dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1));
NaotoMorita 44:7d82e63b6a86 293 dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1));
NaotoMorita 44:7d82e63b6a86 294 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 295
NaotoMorita 19:3fae66745363 296 }
NaotoMorita 19:3fae66745363 297
NaotoMorita 44:7d82e63b6a86 298 void solaESKF::setQhat(float ex,float ey,float ez)
NaotoMorita 44:7d82e63b6a86 299 {
NaotoMorita 44:7d82e63b6a86 300 float cos_z_2 = cosf(0.5f*ez);
NaotoMorita 44:7d82e63b6a86 301 float cos_y_2 = cosf(0.5f*ey);
NaotoMorita 44:7d82e63b6a86 302 float cos_x_2 = cosf(0.5f*ex);
NaotoMorita 19:3fae66745363 303
NaotoMorita 44:7d82e63b6a86 304 float sin_z_2 = sinf(0.5f*ez);
NaotoMorita 44:7d82e63b6a86 305 float sin_y_2 = sinf(0.5f*ey);
NaotoMorita 44:7d82e63b6a86 306 float sin_x_2 = sinf(0.5f*ex);
NaotoMorita 19:3fae66745363 307
NaotoMorita 19:3fae66745363 308 // and now compute quaternion
NaotoMorita 19:3fae66745363 309 qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 310 qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2;
NaotoMorita 19:3fae66745363 311 qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 312 qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 313 }
NaotoMorita 19:3fae66745363 314
NaotoMorita 47:2467de40951f 315
NaotoMorita 47:2467de40951f 316
NaotoMorita 44:7d82e63b6a86 317 void solaESKF::setGravity(float gx,float gy,float gz)
NaotoMorita 23:1509648c2318 318 {
NaotoMorita 44:7d82e63b6a86 319 gravity(1,1) = gx;
NaotoMorita 44:7d82e63b6a86 320 gravity(2,1) = gy;
NaotoMorita 44:7d82e63b6a86 321 gravity(3,1) = gz;
NaotoMorita 23:1509648c2318 322 }
NaotoMorita 47:2467de40951f 323 Matrix solaESKF::getPihat()
NaotoMorita 47:2467de40951f 324 {
NaotoMorita 47:2467de40951f 325 return pihat;
NaotoMorita 47:2467de40951f 326 }
NaotoMorita 47:2467de40951f 327 Matrix solaESKF::getVihat()
NaotoMorita 47:2467de40951f 328 {
NaotoMorita 47:2467de40951f 329 return vihat;
NaotoMorita 47:2467de40951f 330 }
NaotoMorita 47:2467de40951f 331 Matrix solaESKF::getQhat()
NaotoMorita 47:2467de40951f 332 {
NaotoMorita 47:2467de40951f 333 return qhat;
NaotoMorita 47:2467de40951f 334 }
NaotoMorita 47:2467de40951f 335 Matrix solaESKF::getAccBias()
NaotoMorita 47:2467de40951f 336 {
NaotoMorita 47:2467de40951f 337 return accBias;
NaotoMorita 47:2467de40951f 338 }
NaotoMorita 47:2467de40951f 339 Matrix solaESKF::getGyroBias()
NaotoMorita 47:2467de40951f 340 {
NaotoMorita 47:2467de40951f 341 return gyroBias;
NaotoMorita 47:2467de40951f 342 }
NaotoMorita 47:2467de40951f 343 Matrix solaESKF::getGravity()
NaotoMorita 47:2467de40951f 344 {
NaotoMorita 47:2467de40951f 345 return gravity;
NaotoMorita 47:2467de40951f 346 }
NaotoMorita 47:2467de40951f 347 Matrix solaESKF::getErrState()
NaotoMorita 47:2467de40951f 348 {
NaotoMorita 47:2467de40951f 349 return errState;
NaotoMorita 47:2467de40951f 350 }
NaotoMorita 23:1509648c2318 351
NaotoMorita 47:2467de40951f 352 void solaESKF::setPhatPosition(float val)
NaotoMorita 47:2467de40951f 353 {
NaotoMorita 47:2467de40951f 354 setBlockDiag(Phat,val,1,3);
NaotoMorita 47:2467de40951f 355 }
NaotoMorita 47:2467de40951f 356 void solaESKF::setPhatVelocity(float val)
NaotoMorita 47:2467de40951f 357 {
NaotoMorita 47:2467de40951f 358 setBlockDiag(Phat,val,4,6);
NaotoMorita 47:2467de40951f 359 }
NaotoMorita 47:2467de40951f 360 void solaESKF::setPhatAngleError(float val)
NaotoMorita 47:2467de40951f 361 {
NaotoMorita 47:2467de40951f 362 setBlockDiag(Phat,val,7,9);
NaotoMorita 47:2467de40951f 363 }
NaotoMorita 47:2467de40951f 364 void solaESKF::setPhatAccBias(float val)
NaotoMorita 47:2467de40951f 365 {
NaotoMorita 47:2467de40951f 366 setBlockDiag(Phat,val,10,12);
NaotoMorita 47:2467de40951f 367 }
NaotoMorita 47:2467de40951f 368 void solaESKF::setPhatGyroBias(float val)
NaotoMorita 47:2467de40951f 369 {
NaotoMorita 47:2467de40951f 370 setBlockDiag(Phat,val,13,15);
NaotoMorita 47:2467de40951f 371 }
NaotoMorita 47:2467de40951f 372 void solaESKF::setPhatGravity(float val)
NaotoMorita 47:2467de40951f 373 {
NaotoMorita 59:03fe5e16a33c 374 setBlockDiag(Phat,val,16,16);
NaotoMorita 47:2467de40951f 375 }
NaotoMorita 47:2467de40951f 376
NaotoMorita 47:2467de40951f 377
NaotoMorita 47:2467de40951f 378 void solaESKF::setQVelocity(float val)
NaotoMorita 47:2467de40951f 379 {
NaotoMorita 47:2467de40951f 380 setBlockDiag(Q,val,4,6);
NaotoMorita 47:2467de40951f 381 }
NaotoMorita 47:2467de40951f 382 void solaESKF::setQAngleError(float val)
NaotoMorita 47:2467de40951f 383 {
NaotoMorita 47:2467de40951f 384 setBlockDiag(Q,val,7,9);
NaotoMorita 47:2467de40951f 385 }
NaotoMorita 47:2467de40951f 386 void solaESKF::setQAccBias(float val)
NaotoMorita 47:2467de40951f 387 {
NaotoMorita 47:2467de40951f 388 setBlockDiag(Q,val,10,12);
NaotoMorita 47:2467de40951f 389 }
NaotoMorita 47:2467de40951f 390 void solaESKF::setQGyroBias(float val)
NaotoMorita 47:2467de40951f 391 {
NaotoMorita 47:2467de40951f 392 setBlockDiag(Q,val,13,15);
NaotoMorita 47:2467de40951f 393 }
NaotoMorita 19:3fae66745363 394
NaotoMorita 19:3fae66745363 395
NaotoMorita 44:7d82e63b6a86 396 void solaESKF::setDiag(Matrix& mat, float val){
NaotoMorita 44:7d82e63b6a86 397 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 44:7d82e63b6a86 398 mat(i,i) = val;
NaotoMorita 22:7d84b8bc20b4 399 }
NaotoMorita 22:7d84b8bc20b4 400 }
NaotoMorita 22:7d84b8bc20b4 401
NaotoMorita 45:df4618814803 402 void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){
NaotoMorita 44:7d82e63b6a86 403 for (int i = startIndex; i < endIndex+1; i++){
NaotoMorita 44:7d82e63b6a86 404 mat(i,i) = val;
NaotoMorita 22:7d84b8bc20b4 405 }
NaotoMorita 22:7d84b8bc20b4 406 }
osaka 51:a5af3b280d23 407
NaotoMorita 58:93ba28cf5cb3 408 void solaESKF::setPihat(float pi_x, float pi_y)
osaka 51:a5af3b280d23 409 {
NaotoMorita 56:c10f1168bd4a 410 pihat(1,1) = pi_x;
NaotoMorita 56:c10f1168bd4a 411 pihat(2,1) = pi_y;
NaotoMorita 58:93ba28cf5cb3 412 //pihat(3,1) = pi_z;
NaotoMorita 56:c10f1168bd4a 413 }
NaotoMorita 56:c10f1168bd4a 414 /*
NaotoMorita 56:c10f1168bd4a 415 void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R)
NaotoMorita 56:c10f1168bd4a 416 {
NaotoMorita 56:c10f1168bd4a 417 Matrix accm = acc - accBias;
NaotoMorita 56:c10f1168bd4a 418 Matrix tdcm(3,3);
NaotoMorita 56:c10f1168bd4a 419 computeDcm(tdcm, qhat);
NaotoMorita 56:c10f1168bd4a 420 tdcm = MatrixMath::Transpose(tdcm);
NaotoMorita 56:c10f1168bd4a 421 Matrix tdcm_g = tdcm*gravity;
NaotoMorita 56:c10f1168bd4a 422 Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1));
NaotoMorita 56:c10f1168bd4a 423
NaotoMorita 56:c10f1168bd4a 424 Matrix H(4,nState);
NaotoMorita 56:c10f1168bd4a 425 for (int i = 1; i < 4; i++){
NaotoMorita 56:c10f1168bd4a 426 for (int j = 1; j < 4; j++){
NaotoMorita 56:c10f1168bd4a 427 H(i,j+6) = a2v(i,j);
NaotoMorita 56:c10f1168bd4a 428 H(i,j+15) = tdcm(i,j);
NaotoMorita 56:c10f1168bd4a 429 }
NaotoMorita 56:c10f1168bd4a 430 }
NaotoMorita 56:c10f1168bd4a 431 H(1,10) = -1.0f;
NaotoMorita 56:c10f1168bd4a 432 H(2,11) = -1.0f;
NaotoMorita 56:c10f1168bd4a 433 H(3,12) = -1.0f;
NaotoMorita 56:c10f1168bd4a 434 H(4,3) = 1.0f;
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(3))*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 Matrix zacc = -accm-tdcm*gravity;
NaotoMorita 56:c10f1168bd4a 440 Matrix z(4,1);
NaotoMorita 56:c10f1168bd4a 441 z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1);
NaotoMorita 56:c10f1168bd4a 442 errState = K * z;
NaotoMorita 56:c10f1168bd4a 443 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 56:c10f1168bd4a 444 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 445 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 446 fuseErr2Nominal();
NaotoMorita 56:c10f1168bd4a 447 }
NaotoMorita 56:c10f1168bd4a 448
NaotoMorita 56:c10f1168bd4a 449 void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R)
NaotoMorita 56:c10f1168bd4a 450 {
NaotoMorita 56:c10f1168bd4a 451 Matrix gyrom = gyro - gyroBias;
NaotoMorita 56:c10f1168bd4a 452 Matrix dcm(3,3);
NaotoMorita 56:c10f1168bd4a 453 computeDcm(dcm, qhat);
NaotoMorita 56:c10f1168bd4a 454 Matrix a2v = dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1));
NaotoMorita 56:c10f1168bd4a 455
NaotoMorita 56:c10f1168bd4a 456 Matrix H(2,nState);
NaotoMorita 56:c10f1168bd4a 457 for (int i = 1; i < 3; i++){
NaotoMorita 56:c10f1168bd4a 458 for (int j = 1; j < 4; j++){
NaotoMorita 56:c10f1168bd4a 459 H(i,j+6) = a2v(i,j);
NaotoMorita 56:c10f1168bd4a 460 H(i,j+12) = -dcm(i,j);
NaotoMorita 56:c10f1168bd4a 461 }
NaotoMorita 56:c10f1168bd4a 462 }
NaotoMorita 56:c10f1168bd4a 463 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 56:c10f1168bd4a 464 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A));
NaotoMorita 56:c10f1168bd4a 465 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 56:c10f1168bd4a 466
NaotoMorita 56:c10f1168bd4a 467 Matrix z3 = -dcm*gyrom;
NaotoMorita 56:c10f1168bd4a 468 Matrix z(2,1);
NaotoMorita 56:c10f1168bd4a 469 z << z3(1,1) << z3(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 56:c10f1168bd4a 476 void solaESKF::updateMag(Matrix mag, Matrix R)
NaotoMorita 56:c10f1168bd4a 477 {
NaotoMorita 56:c10f1168bd4a 478 Matrix dcm(3,3);
NaotoMorita 56:c10f1168bd4a 479 computeDcm(dcm, qhat);
NaotoMorita 56:c10f1168bd4a 480 Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1));
NaotoMorita 56:c10f1168bd4a 481
NaotoMorita 56:c10f1168bd4a 482 Matrix H(2,nState);
NaotoMorita 56:c10f1168bd4a 483 for (int i = 1; i < 3; i++){
NaotoMorita 56:c10f1168bd4a 484 for (int j = 1; j < 4; j++){
NaotoMorita 56:c10f1168bd4a 485 H(i,j+6) = a2v(i,j);
NaotoMorita 56:c10f1168bd4a 486 }
NaotoMorita 56:c10f1168bd4a 487 }
NaotoMorita 56:c10f1168bd4a 488 H(1,19) = 1.0f;
NaotoMorita 56:c10f1168bd4a 489 //H(3,20) = 1.0f;
NaotoMorita 56:c10f1168bd4a 490
NaotoMorita 56:c10f1168bd4a 491 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 56:c10f1168bd4a 492 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 56:c10f1168bd4a 493 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 56:c10f1168bd4a 494 Matrix zmag = -dcm*mag-magField;
NaotoMorita 56:c10f1168bd4a 495 Matrix z(2,1);
NaotoMorita 56:c10f1168bd4a 496 z << zmag(1,1) << zmag(2,1);
NaotoMorita 56:c10f1168bd4a 497 errState = K * z;
NaotoMorita 56:c10f1168bd4a 498 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 56:c10f1168bd4a 499 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 500 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 501 fuseErr2Nominal();
NaotoMorita 56:c10f1168bd4a 502 }
NaotoMorita 59:03fe5e16a33c 503 void solaESKF::updateMag(Matrix mag,float palt, Matrix R)
NaotoMorita 59:03fe5e16a33c 504 {
NaotoMorita 59:03fe5e16a33c 505 Matrix dcm(3,3);
NaotoMorita 59:03fe5e16a33c 506 computeDcm(dcm, qhat);
NaotoMorita 59:03fe5e16a33c 507 Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1));
NaotoMorita 59:03fe5e16a33c 508
NaotoMorita 59:03fe5e16a33c 509 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 510 for (int i = 1; i < 3; i++){
NaotoMorita 59:03fe5e16a33c 511 for (int j = 1; j < 4; j++){
NaotoMorita 59:03fe5e16a33c 512 H(i,j+6) = a2v(i,j);
NaotoMorita 59:03fe5e16a33c 513 }
NaotoMorita 59:03fe5e16a33c 514 }
NaotoMorita 59:03fe5e16a33c 515 H(1,19) = 1.0f;
NaotoMorita 59:03fe5e16a33c 516 H(3,3) = 1.0f;
NaotoMorita 59:03fe5e16a33c 517 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 59:03fe5e16a33c 518 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 59:03fe5e16a33c 519 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 520 Matrix zmag = -dcm*mag-magField;
NaotoMorita 59:03fe5e16a33c 521 Matrix z(3,1);
NaotoMorita 59:03fe5e16a33c 522 z << zmag(1,1) << zmag(2,1) << palt - pihat(3,1);
NaotoMorita 59:03fe5e16a33c 523 errState = K * z;
NaotoMorita 59:03fe5e16a33c 524 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 59:03fe5e16a33c 525 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 526 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 527
NaotoMorita 59:03fe5e16a33c 528 fuseErr2Nominal();
NaotoMorita 59:03fe5e16a33c 529 }
NaotoMorita 59:03fe5e16a33c 530 void solaESKF::updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R)
NaotoMorita 59:03fe5e16a33c 531 {
NaotoMorita 59:03fe5e16a33c 532
NaotoMorita 59:03fe5e16a33c 533 Matrix dcm(3,3);
NaotoMorita 59:03fe5e16a33c 534 computeDcm(dcm, qhat);
NaotoMorita 59:03fe5e16a33c 535 Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1));
NaotoMorita 59:03fe5e16a33c 536
NaotoMorita 59:03fe5e16a33c 537
NaotoMorita 59:03fe5e16a33c 538 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 539 H(1,4) = 1.0f;
NaotoMorita 59:03fe5e16a33c 540 H(2,5) = 1.0f;
NaotoMorita 59:03fe5e16a33c 541
NaotoMorita 59:03fe5e16a33c 542 for (int j = 1; j < 4; j++){
NaotoMorita 59:03fe5e16a33c 543 H(3,j+6) = a2v(2,j);
NaotoMorita 59:03fe5e16a33c 544 }
NaotoMorita 59:03fe5e16a33c 545 //H(3,19) = 1.0f;
NaotoMorita 59:03fe5e16a33c 546
NaotoMorita 59:03fe5e16a33c 547 Matrix zmag = -dcm*mag-magField;
NaotoMorita 59:03fe5e16a33c 548
NaotoMorita 59:03fe5e16a33c 549 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 59:03fe5e16a33c 550 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 59:03fe5e16a33c 551 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 552 Matrix z(3,1);
NaotoMorita 59:03fe5e16a33c 553 z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << zmag(2,1);
NaotoMorita 59:03fe5e16a33c 554 errState = K * z;
NaotoMorita 59:03fe5e16a33c 555 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 59:03fe5e16a33c 556 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 557 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 558 fuseErr2Nominal();
NaotoMorita 59:03fe5e16a33c 559 }
NaotoMorita 56:c10f1168bd4a 560
NaotoMorita 59:03fe5e16a33c 561 void solaESKF::updateGPSPosition(Matrix posgps,float palt,Matrix R)
NaotoMorita 59:03fe5e16a33c 562 {
NaotoMorita 59:03fe5e16a33c 563 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 564 H(1,1) = 1.0f;
NaotoMorita 59:03fe5e16a33c 565 H(2,2) = 1.0f;
NaotoMorita 59:03fe5e16a33c 566 H(3,3) = 1.0f;
NaotoMorita 59:03fe5e16a33c 567
NaotoMorita 59:03fe5e16a33c 568 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 59:03fe5e16a33c 569 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 59:03fe5e16a33c 570 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 571 Matrix z(3,1);
NaotoMorita 59:03fe5e16a33c 572 z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1);
NaotoMorita 59:03fe5e16a33c 573 errState = K * z;
NaotoMorita 59:03fe5e16a33c 574 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 59:03fe5e16a33c 575 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 576 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 577 fuseErr2Nominal();
NaotoMorita 59:03fe5e16a33c 578 }
NaotoMorita 61:5e5c4fe12440 579
NaotoMorita 61:5e5c4fe12440 580 void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R)
NaotoMorita 61:5e5c4fe12440 581 {
NaotoMorita 61:5e5c4fe12440 582 Matrix accm = acc - accBias;
NaotoMorita 61:5e5c4fe12440 583 Matrix magm = mag - magBias;
NaotoMorita 61:5e5c4fe12440 584 Matrix dcm(3,3);
NaotoMorita 61:5e5c4fe12440 585 computeDcm(dcm, qhat);
NaotoMorita 61:5e5c4fe12440 586 Matrix tdcm = MatrixMath::Transpose(dcm);
NaotoMorita 61:5e5c4fe12440 587 Matrix tdcm_g = tdcm*gravity;
NaotoMorita 61:5e5c4fe12440 588 Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1));
NaotoMorita 61:5e5c4fe12440 589 Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1));
NaotoMorita 61:5e5c4fe12440 590
NaotoMorita 61:5e5c4fe12440 591 Matrix H(5,nState);
NaotoMorita 61:5e5c4fe12440 592 for (int i = 1; i < 4; i++){
NaotoMorita 61:5e5c4fe12440 593 for (int j = 1; j < 4; j++){
NaotoMorita 61:5e5c4fe12440 594 H(i,j+6) = rotgrav(i,j);
NaotoMorita 61:5e5c4fe12440 595 }
NaotoMorita 61:5e5c4fe12440 596 H(i,16) = tdcm(i,3);
NaotoMorita 61:5e5c4fe12440 597 }
NaotoMorita 61:5e5c4fe12440 598
NaotoMorita 61:5e5c4fe12440 599 H(1,10) = -1.0f;
NaotoMorita 61:5e5c4fe12440 600 H(2,11) = -1.0f;
NaotoMorita 61:5e5c4fe12440 601 H(3,12) = -1.0f;
NaotoMorita 61:5e5c4fe12440 602
NaotoMorita 61:5e5c4fe12440 603 Matrix magned = dcm*magm;
NaotoMorita 61:5e5c4fe12440 604 float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1));
NaotoMorita 61:5e5c4fe12440 605
NaotoMorita 61:5e5c4fe12440 606 for(int j = 1; j < 4; j++){
NaotoMorita 61:5e5c4fe12440 607 H(4,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx;
NaotoMorita 61:5e5c4fe12440 608 H(4,j+16) = -dcm(1,j)+(dcm(1,j)+dcm(2,j))/hx;
NaotoMorita 61:5e5c4fe12440 609 H(5,j+6) = rotmag(2,j);
NaotoMorita 61:5e5c4fe12440 610 H(5,j+16) = -dcm(2,j);
NaotoMorita 61:5e5c4fe12440 611 }
NaotoMorita 61:5e5c4fe12440 612
NaotoMorita 61:5e5c4fe12440 613 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 61:5e5c4fe12440 614 Matrix zacc = -accm-tdcm*gravity;
NaotoMorita 61:5e5c4fe12440 615 Matrix zmag = dcm*magm;
NaotoMorita 61:5e5c4fe12440 616 Matrix z(5,1);
NaotoMorita 61:5e5c4fe12440 617 z << zacc(1,1) << zacc(2,1) << zacc(3,1) << -(zmag(1,1) - hx) << -zmag(2,1);
NaotoMorita 61:5e5c4fe12440 618 twelite.printf("%f %f\r\n",hx,(zmag(1,1) - hx));
NaotoMorita 61:5e5c4fe12440 619 errState = K * z;
NaotoMorita 61:5e5c4fe12440 620 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 61:5e5c4fe12440 621
NaotoMorita 61:5e5c4fe12440 622 fuseErr2Nominal();
NaotoMorita 61:5e5c4fe12440 623 }
NaotoMorita 56:c10f1168bd4a 624 */