Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
ScErrStateEKF.cpp@26:73c3f58b9d70, 2021-09-07 (annotated)
- Committer:
- NaotoMorita
- Date:
- Tue Sep 07 06:19:29 2021 +0000
- Revision:
- 26:73c3f58b9d70
- Parent:
- 25:07ac5c6cd61c
- Child:
- 27:a74f101ba40a
GPS_update
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() |
NaotoMorita | 26:73c3f58b9d70 | 11 | :qhat(4,1),vihat(3,1), errState(12,1), Phat(12,12), Q(12,12), Ra(3,3), Rgps(2,2), 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; |
NaotoMorita | 19:3fae66745363 | 15 | |
NaotoMorita | 21:d6079def0473 | 16 | setDiag(Phat,0.1f); |
NaotoMorita | 21:d6079def0473 | 17 | setQqerr(0.000005f); |
NaotoMorita | 21:d6079def0473 | 18 | setQgbias(0.00001f); |
NaotoMorita | 23:1509648c2318 | 19 | setQabias(1.0f); |
NaotoMorita | 23:1509648c2318 | 20 | setQv(0.000001f); |
NaotoMorita | 19:3fae66745363 | 21 | |
NaotoMorita | 20:37d3c3ee36e9 | 22 | //加速度の観測 |
NaotoMorita | 23:1509648c2318 | 23 | setDiag(Ra,0.005f); |
NaotoMorita | 23:1509648c2318 | 24 | setDiag(Qab,100.0f); |
NaotoMorita | 20:37d3c3ee36e9 | 25 | |
NaotoMorita | 20:37d3c3ee36e9 | 26 | //ジャイロバイアスに関する制約 |
NaotoMorita | 22:7d84b8bc20b4 | 27 | setDiag(Rgsc,500.0f); |
NaotoMorita | 20:37d3c3ee36e9 | 28 | |
NaotoMorita | 21:d6079def0473 | 29 | //機体軸速度に関する制約 |
NaotoMorita | 23:1509648c2318 | 30 | setDiag(Rvsc,100000.0f); |
NaotoMorita | 19:3fae66745363 | 31 | |
NaotoMorita | 21:d6079def0473 | 32 | setDiag(Rm,5.0f); |
NaotoMorita | 19:3fae66745363 | 33 | |
NaotoMorita | 26:73c3f58b9d70 | 34 | setDiag(Rgps,0.5f); |
NaotoMorita | 26:73c3f58b9d70 | 35 | |
NaotoMorita | 19:3fae66745363 | 36 | for(int i = 0; i<10;i++){ |
NaotoMorita | 19:3fae66745363 | 37 | histffunc[i] = 0.0f; |
NaotoMorita | 19:3fae66745363 | 38 | } |
NaotoMorita | 19:3fae66745363 | 39 | histffuncindex = 0 ; |
NaotoMorita | 19:3fae66745363 | 40 | sigma2a = 0.000020f; |
NaotoMorita | 19:3fae66745363 | 41 | |
NaotoMorita | 19:3fae66745363 | 42 | |
NaotoMorita | 19:3fae66745363 | 43 | } |
NaotoMorita | 19:3fae66745363 | 44 | |
NaotoMorita | 23:1509648c2318 | 45 | void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt) |
NaotoMorita | 19:3fae66745363 | 46 | { |
NaotoMorita | 19:3fae66745363 | 47 | gyro -= gyroBias; |
NaotoMorita | 23:1509648c2318 | 48 | acc -= accBias; |
NaotoMorita | 19:3fae66745363 | 49 | Matrix A(4,4); |
NaotoMorita | 19:3fae66745363 | 50 | A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z |
NaotoMorita | 19:3fae66745363 | 51 | << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y |
NaotoMorita | 19:3fae66745363 | 52 | << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x |
NaotoMorita | 19:3fae66745363 | 53 | << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ; |
NaotoMorita | 19:3fae66745363 | 54 | |
NaotoMorita | 20:37d3c3ee36e9 | 55 | Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 19:3fae66745363 | 56 | qhat = phi * qhat; |
NaotoMorita | 19:3fae66745363 | 57 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 58 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 59 | |
NaotoMorita | 23:1509648c2318 | 60 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 61 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 62 | vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f; |
NaotoMorita | 19:3fae66745363 | 63 | } |
NaotoMorita | 19:3fae66745363 | 64 | |
NaotoMorita | 23:1509648c2318 | 65 | void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt) |
NaotoMorita | 23:1509648c2318 | 66 | { |
NaotoMorita | 23:1509648c2318 | 67 | gyro -= gyroBias; |
NaotoMorita | 23:1509648c2318 | 68 | acc -= accBias; |
NaotoMorita | 23:1509648c2318 | 69 | Matrix A(nState,nState); |
NaotoMorita | 23:1509648c2318 | 70 | A(1,2) = gyro.z; |
NaotoMorita | 23:1509648c2318 | 71 | A(1,3) = -gyro.y; |
NaotoMorita | 23:1509648c2318 | 72 | A(2,1) = -gyro.z; |
NaotoMorita | 23:1509648c2318 | 73 | A(2,3) = gyro.x; |
NaotoMorita | 23:1509648c2318 | 74 | A(3,1) = gyro.y; |
NaotoMorita | 23:1509648c2318 | 75 | A(3,2) = -gyro.x; |
NaotoMorita | 23:1509648c2318 | 76 | A(1,4) = -0.5f; |
NaotoMorita | 23:1509648c2318 | 77 | A(2,5) = -0.5f; |
NaotoMorita | 23:1509648c2318 | 78 | A(3,6) = -0.5f; |
NaotoMorita | 23:1509648c2318 | 79 | |
NaotoMorita | 23:1509648c2318 | 80 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 81 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 82 | Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z); |
NaotoMorita | 23:1509648c2318 | 83 | Matrix baterm = -9.8f*MatrixMath::Transpose(dcm); |
NaotoMorita | 23:1509648c2318 | 84 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 23:1509648c2318 | 85 | for (int j = 1; i < 4; i++){ |
NaotoMorita | 23:1509648c2318 | 86 | A(i+9,j) = qeterm(i,j); |
NaotoMorita | 23:1509648c2318 | 87 | A(i+9,j+6) = baterm(i,j); |
NaotoMorita | 23:1509648c2318 | 88 | } |
NaotoMorita | 23:1509648c2318 | 89 | } |
NaotoMorita | 23:1509648c2318 | 90 | |
NaotoMorita | 23:1509648c2318 | 91 | Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 23:1509648c2318 | 92 | 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 | 93 | errState = phi * errState; |
NaotoMorita | 23:1509648c2318 | 94 | Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd; |
NaotoMorita | 23:1509648c2318 | 95 | } |
NaotoMorita | 20:37d3c3ee36e9 | 96 | void ScErrStateEKF::setQqerr(float val){ |
NaotoMorita | 20:37d3c3ee36e9 | 97 | Q(1,1) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 98 | Q(2,2) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 99 | Q(3,3) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 100 | } |
NaotoMorita | 20:37d3c3ee36e9 | 101 | |
NaotoMorita | 20:37d3c3ee36e9 | 102 | void ScErrStateEKF::setQgbias(float val){ |
NaotoMorita | 20:37d3c3ee36e9 | 103 | Q(4,4) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 104 | Q(5,5) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 105 | Q(6,6) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 106 | } |
NaotoMorita | 20:37d3c3ee36e9 | 107 | void ScErrStateEKF::setQabias(float val){ |
NaotoMorita | 20:37d3c3ee36e9 | 108 | Q(7,7) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 109 | Q(8,8) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 110 | Q(9,9) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 111 | } |
NaotoMorita | 23:1509648c2318 | 112 | void ScErrStateEKF::setQv(float val){ |
NaotoMorita | 23:1509648c2318 | 113 | Q(10,10) = val; |
NaotoMorita | 23:1509648c2318 | 114 | Q(11,11) = val; |
NaotoMorita | 23:1509648c2318 | 115 | Q(12,12) = val; |
NaotoMorita | 23:1509648c2318 | 116 | } |
NaotoMorita | 21:d6079def0473 | 117 | |
NaotoMorita | 20:37d3c3ee36e9 | 118 | void ScErrStateEKF::setQab(float val){ |
NaotoMorita | 21:d6079def0473 | 119 | setDiag(Qab,val); |
NaotoMorita | 20:37d3c3ee36e9 | 120 | } |
NaotoMorita | 20:37d3c3ee36e9 | 121 | |
NaotoMorita | 23:1509648c2318 | 122 | |
NaotoMorita | 20:37d3c3ee36e9 | 123 | void ScErrStateEKF::setRsoftconst(float Vgsc,float Vvsc){ |
NaotoMorita | 21:d6079def0473 | 124 | setDiag(Rgsc,Vgsc); |
NaotoMorita | 23:1509648c2318 | 125 | setDiag(Rvsc,Vvsc); |
NaotoMorita | 20:37d3c3ee36e9 | 126 | } |
NaotoMorita | 20:37d3c3ee36e9 | 127 | |
NaotoMorita | 21:d6079def0473 | 128 | void ScErrStateEKF::setDiag(Matrix& mat, float val){ |
NaotoMorita | 21:d6079def0473 | 129 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 21:d6079def0473 | 130 | mat(i,i) = val; |
NaotoMorita | 21:d6079def0473 | 131 | } |
NaotoMorita | 21:d6079def0473 | 132 | } |
NaotoMorita | 20:37d3c3ee36e9 | 133 | |
NaotoMorita | 25:07ac5c6cd61c | 134 | void ScErrStateEKF::getQhat(float (&res)[4]){ |
NaotoMorita | 25:07ac5c6cd61c | 135 | for (int i = 0; i < 4; i++){ |
NaotoMorita | 25:07ac5c6cd61c | 136 | res[i] = qhat(i+1,1); |
NaotoMorita | 25:07ac5c6cd61c | 137 | } |
NaotoMorita | 25:07ac5c6cd61c | 138 | } |
NaotoMorita | 25:07ac5c6cd61c | 139 | |
NaotoMorita | 25:07ac5c6cd61c | 140 | void ScErrStateEKF::getVihat(float (&res)[3]){ |
NaotoMorita | 25:07ac5c6cd61c | 141 | for (int i = 0; i < 3; i++){ |
NaotoMorita | 25:07ac5c6cd61c | 142 | res[i] = vihat(i+1,1); |
NaotoMorita | 25:07ac5c6cd61c | 143 | } |
NaotoMorita | 25:07ac5c6cd61c | 144 | } |
NaotoMorita | 25:07ac5c6cd61c | 145 | |
NaotoMorita | 25:07ac5c6cd61c | 146 | void ScErrStateEKF::getGyroBias(float (&resVal)[3], float (&resCov)[6]){ |
NaotoMorita | 25:07ac5c6cd61c | 147 | resVal[0] = gyroBias.x; |
NaotoMorita | 25:07ac5c6cd61c | 148 | resVal[1] = gyroBias.y; |
NaotoMorita | 25:07ac5c6cd61c | 149 | resVal[2] = gyroBias.z; |
NaotoMorita | 25:07ac5c6cd61c | 150 | resCov[0] = Phat(4,4); |
NaotoMorita | 25:07ac5c6cd61c | 151 | resCov[1] = Phat(4,5); |
NaotoMorita | 25:07ac5c6cd61c | 152 | resCov[2] = Phat(4,6); |
NaotoMorita | 25:07ac5c6cd61c | 153 | resCov[3] = Phat(5,5); |
NaotoMorita | 25:07ac5c6cd61c | 154 | resCov[4] = Phat(5,6); |
NaotoMorita | 25:07ac5c6cd61c | 155 | resCov[5] = Phat(6,6); |
NaotoMorita | 25:07ac5c6cd61c | 156 | |
NaotoMorita | 25:07ac5c6cd61c | 157 | } |
NaotoMorita | 25:07ac5c6cd61c | 158 | |
NaotoMorita | 25:07ac5c6cd61c | 159 | void ScErrStateEKF::getAccBias(float (&resVal)[3], float (&resCov)[6]){ |
NaotoMorita | 25:07ac5c6cd61c | 160 | resVal[0] = accBias.x; |
NaotoMorita | 25:07ac5c6cd61c | 161 | resVal[1] = accBias.y; |
NaotoMorita | 25:07ac5c6cd61c | 162 | resVal[2] = accBias.z; |
NaotoMorita | 25:07ac5c6cd61c | 163 | resCov[0] = Phat(7,7); |
NaotoMorita | 25:07ac5c6cd61c | 164 | resCov[1] = Phat(7,8); |
NaotoMorita | 25:07ac5c6cd61c | 165 | resCov[2] = Phat(7,9); |
NaotoMorita | 25:07ac5c6cd61c | 166 | resCov[3] = Phat(8,8); |
NaotoMorita | 25:07ac5c6cd61c | 167 | resCov[4] = Phat(8,9); |
NaotoMorita | 25:07ac5c6cd61c | 168 | resCov[5] = Phat(9,9); |
NaotoMorita | 25:07ac5c6cd61c | 169 | |
NaotoMorita | 25:07ac5c6cd61c | 170 | } |
NaotoMorita | 25:07ac5c6cd61c | 171 | |
NaotoMorita | 19:3fae66745363 | 172 | |
NaotoMorita | 19:3fae66745363 | 173 | void ScErrStateEKF::updateAccMeasures(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 174 | { |
NaotoMorita | 21:d6079def0473 | 175 | acc -= accBias; |
NaotoMorita | 20:37d3c3ee36e9 | 176 | Matrix dcm(3,3); |
NaotoMorita | 20:37d3c3ee36e9 | 177 | computeDcm(dcm, qhat); |
NaotoMorita | 20:37d3c3ee36e9 | 178 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 21:d6079def0473 | 179 | Matrix H(3,nState); |
NaotoMorita | 20:37d3c3ee36e9 | 180 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 20:37d3c3ee36e9 | 181 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 20:37d3c3ee36e9 | 182 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 20:37d3c3ee36e9 | 183 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 20:37d3c3ee36e9 | 184 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 20:37d3c3ee36e9 | 185 | H(3,2) = 2.0f*gvec.x; |
NaotoMorita | 20:37d3c3ee36e9 | 186 | H(1,7) = 1.0f; |
NaotoMorita | 20:37d3c3ee36e9 | 187 | H(2,8) = 1.0f; |
NaotoMorita | 20:37d3c3ee36e9 | 188 | H(3,9) = 1.0f; |
NaotoMorita | 20:37d3c3ee36e9 | 189 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra+Qab); |
NaotoMorita | 21:d6079def0473 | 190 | Matrix z = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref); |
NaotoMorita | 20:37d3c3ee36e9 | 191 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 20:37d3c3ee36e9 | 192 | errState = errState + corrVal; |
NaotoMorita | 21:d6079def0473 | 193 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra+Qab)*MatrixMath::Transpose(K); |
NaotoMorita | 20:37d3c3ee36e9 | 194 | } |
NaotoMorita | 20:37d3c3ee36e9 | 195 | |
NaotoMorita | 20:37d3c3ee36e9 | 196 | void ScErrStateEKF::updateGyroBiasConstraints(Vector3 gyro) |
NaotoMorita | 20:37d3c3ee36e9 | 197 | { |
NaotoMorita | 21:d6079def0473 | 198 | gyro -= gyroBias; |
NaotoMorita | 21:d6079def0473 | 199 | |
NaotoMorita | 20:37d3c3ee36e9 | 200 | Matrix dcm(3,3); |
NaotoMorita | 20:37d3c3ee36e9 | 201 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 202 | Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z); |
NaotoMorita | 23:1509648c2318 | 203 | Matrix H(2,nState); |
NaotoMorita | 23:1509648c2318 | 204 | for(int i = 1; i<3; i++){ |
NaotoMorita | 23:1509648c2318 | 205 | for(int j = 1;j<4;j++){ |
NaotoMorita | 23:1509648c2318 | 206 | H(i,j) = qeterm(i,j); |
NaotoMorita | 23:1509648c2318 | 207 | } |
NaotoMorita | 23:1509648c2318 | 208 | } |
NaotoMorita | 23:1509648c2318 | 209 | H(1,4) = 1.0f*(dcm(1,1)); |
NaotoMorita | 23:1509648c2318 | 210 | H(1,5) = 1.0f*(dcm(2,1)); |
NaotoMorita | 23:1509648c2318 | 211 | H(1,6) = 1.0f*(dcm(3,1)); |
NaotoMorita | 23:1509648c2318 | 212 | H(2,4) = 1.0f*(dcm(1,2)); |
NaotoMorita | 23:1509648c2318 | 213 | H(2,5) = 1.0f*(dcm(2,2)); |
NaotoMorita | 23:1509648c2318 | 214 | H(2,6) = 1.0f*(dcm(3,2)); |
NaotoMorita | 23:1509648c2318 | 215 | |
NaotoMorita | 23:1509648c2318 | 216 | Matrix Pm(nState,nState); |
NaotoMorita | 23:1509648c2318 | 217 | for(int i = 4; i<7; i++){ |
NaotoMorita | 23:1509648c2318 | 218 | for(int j = 4;j<7;j++){ |
NaotoMorita | 23:1509648c2318 | 219 | Pm(i,j) = Phat(i,j); |
NaotoMorita | 23:1509648c2318 | 220 | } |
NaotoMorita | 23:1509648c2318 | 221 | } |
NaotoMorita | 23:1509648c2318 | 222 | |
NaotoMorita | 23:1509648c2318 | 223 | Matrix K = (Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rgsc); |
NaotoMorita | 23:1509648c2318 | 224 | Matrix z(2,1); |
NaotoMorita | 23:1509648c2318 | 225 | 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; |
NaotoMorita | 23:1509648c2318 | 226 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 23:1509648c2318 | 227 | errState = errState + corrVal; |
NaotoMorita | 23:1509648c2318 | 228 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgsc)*MatrixMath::Transpose(K); |
NaotoMorita | 23:1509648c2318 | 229 | } |
NaotoMorita | 23:1509648c2318 | 230 | |
NaotoMorita | 23:1509648c2318 | 231 | |
NaotoMorita | 23:1509648c2318 | 232 | void ScErrStateEKF::updateMeasures(Vector3 gyro, Vector3 acc, Vector3 accref) |
NaotoMorita | 23:1509648c2318 | 233 | { |
NaotoMorita | 23:1509648c2318 | 234 | acc -= accBias; |
NaotoMorita | 23:1509648c2318 | 235 | gyro -= gyroBias; |
NaotoMorita | 23:1509648c2318 | 236 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 237 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 238 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 23:1509648c2318 | 239 | Matrix H(5,nState); |
NaotoMorita | 23:1509648c2318 | 240 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 23:1509648c2318 | 241 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 23:1509648c2318 | 242 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 23:1509648c2318 | 243 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 23:1509648c2318 | 244 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 23:1509648c2318 | 245 | H(3,2) = 2.0f*gvec.x; |
NaotoMorita | 23:1509648c2318 | 246 | H(1,7) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 247 | H(2,8) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 248 | H(3,9) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 249 | /* |
NaotoMorita | 23:1509648c2318 | 250 | Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z); |
NaotoMorita | 23:1509648c2318 | 251 | for(int j = 1;j<4;j++){ |
NaotoMorita | 23:1509648c2318 | 252 | H(4,j) = qeterm(1,j); |
NaotoMorita | 23:1509648c2318 | 253 | H(5,j) = qeterm(2,j); |
NaotoMorita | 23:1509648c2318 | 254 | } |
NaotoMorita | 23:1509648c2318 | 255 | H(4,4) = 1.0f*(dcm(1,1)); |
NaotoMorita | 23:1509648c2318 | 256 | H(4,5) = 1.0f*(dcm(2,1)); |
NaotoMorita | 23:1509648c2318 | 257 | H(4,6) = 1.0f*(dcm(3,1)); |
NaotoMorita | 23:1509648c2318 | 258 | H(5,4) = 1.0f*(dcm(1,2)); |
NaotoMorita | 23:1509648c2318 | 259 | H(5,5) = 1.0f*(dcm(2,2)); |
NaotoMorita | 23:1509648c2318 | 260 | H(5,6) = 1.0f*(dcm(3,2)); |
NaotoMorita | 23:1509648c2318 | 261 | */ |
NaotoMorita | 23:1509648c2318 | 262 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 23:1509648c2318 | 263 | Matrix qeterm = 2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 23:1509648c2318 | 264 | for(int j = 1;j<4;j++){ |
NaotoMorita | 23:1509648c2318 | 265 | H(4,j) = -qeterm(1,j); |
NaotoMorita | 23:1509648c2318 | 266 | H(5,j) = -qeterm(3,j); |
NaotoMorita | 23:1509648c2318 | 267 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 23:1509648c2318 | 268 | H(4,9+j) = -dcm(1,j); |
NaotoMorita | 23:1509648c2318 | 269 | H(5,9+j) = -dcm(3,j); |
NaotoMorita | 23:1509648c2318 | 270 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 23:1509648c2318 | 271 | } |
NaotoMorita | 23:1509648c2318 | 272 | |
NaotoMorita | 23:1509648c2318 | 273 | Matrix R(5,5); |
NaotoMorita | 23:1509648c2318 | 274 | R(1,1) = Ra(1,1)+Qab(1,1); |
NaotoMorita | 23:1509648c2318 | 275 | R(2,2) = Ra(2,2)+Qab(2,2); |
NaotoMorita | 23:1509648c2318 | 276 | R(3,3) = Ra(3,3)+Qab(3,3); |
NaotoMorita | 23:1509648c2318 | 277 | //R(4,4) = Rgsc(1,1); |
NaotoMorita | 23:1509648c2318 | 278 | //R(5,5) = Rgsc(2,2); |
NaotoMorita | 23:1509648c2318 | 279 | R(4,4) = Rvsc(1,1); |
NaotoMorita | 23:1509648c2318 | 280 | R(5,5) = Rvsc(2,2); |
NaotoMorita | 23:1509648c2318 | 281 | |
NaotoMorita | 23:1509648c2318 | 282 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 23:1509648c2318 | 283 | Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref); |
NaotoMorita | 23:1509648c2318 | 284 | Matrix z(5,1); |
NaotoMorita | 23:1509648c2318 | 285 | z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << nomVb(1,1) << nomVb(3,1) ; |
NaotoMorita | 23:1509648c2318 | 286 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 23:1509648c2318 | 287 | errState = errState + corrVal; |
NaotoMorita | 23:1509648c2318 | 288 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 23:1509648c2318 | 289 | } |
NaotoMorita | 23:1509648c2318 | 290 | |
NaotoMorita | 23:1509648c2318 | 291 | |
NaotoMorita | 23:1509648c2318 | 292 | void ScErrStateEKF::updateStaticMeasures(Vector3 gyro,Vector3 acc, Vector3 accref) |
NaotoMorita | 23:1509648c2318 | 293 | { |
NaotoMorita | 23:1509648c2318 | 294 | acc -= accBias; |
NaotoMorita | 23:1509648c2318 | 295 | gyro -= gyroBias; |
NaotoMorita | 23:1509648c2318 | 296 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 297 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 298 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 23:1509648c2318 | 299 | Matrix H(5,nState); |
NaotoMorita | 23:1509648c2318 | 300 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 23:1509648c2318 | 301 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 23:1509648c2318 | 302 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 23:1509648c2318 | 303 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 23:1509648c2318 | 304 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 23:1509648c2318 | 305 | H(3,2) = 2.0f*gvec.x; |
NaotoMorita | 23:1509648c2318 | 306 | H(1,7) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 307 | H(2,8) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 308 | H(3,9) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 309 | /* |
NaotoMorita | 23:1509648c2318 | 310 | Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z); |
NaotoMorita | 23:1509648c2318 | 311 | for(int j = 1;j<4;j++){ |
NaotoMorita | 23:1509648c2318 | 312 | H(4,j) = qeterm(1,j); |
NaotoMorita | 23:1509648c2318 | 313 | H(5,j) = qeterm(2,j); |
NaotoMorita | 23:1509648c2318 | 314 | } |
NaotoMorita | 23:1509648c2318 | 315 | H(4,4) = 1.0f*(dcm(1,1)); |
NaotoMorita | 23:1509648c2318 | 316 | H(4,5) = 1.0f*(dcm(2,1)); |
NaotoMorita | 23:1509648c2318 | 317 | H(4,6) = 1.0f*(dcm(3,1)); |
NaotoMorita | 23:1509648c2318 | 318 | H(5,4) = 1.0f*(dcm(1,2)); |
NaotoMorita | 23:1509648c2318 | 319 | H(5,5) = 1.0f*(dcm(2,2)); |
NaotoMorita | 23:1509648c2318 | 320 | H(5,6) = 1.0f*(dcm(3,2)); |
NaotoMorita | 23:1509648c2318 | 321 | */ |
NaotoMorita | 23:1509648c2318 | 322 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 23:1509648c2318 | 323 | Matrix qeterm = 2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 23:1509648c2318 | 324 | for(int j = 1;j<4;j++){ |
NaotoMorita | 23:1509648c2318 | 325 | H(4,j) = -qeterm(1,j); |
NaotoMorita | 23:1509648c2318 | 326 | H(5,j) = -qeterm(3,j); |
NaotoMorita | 23:1509648c2318 | 327 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 23:1509648c2318 | 328 | H(4,9+j) = -dcm(1,j); |
NaotoMorita | 23:1509648c2318 | 329 | H(5,9+j) = -dcm(3,j); |
NaotoMorita | 23:1509648c2318 | 330 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 23:1509648c2318 | 331 | } |
NaotoMorita | 23:1509648c2318 | 332 | |
NaotoMorita | 23:1509648c2318 | 333 | Matrix R(5,5); |
NaotoMorita | 23:1509648c2318 | 334 | R(1,1) = Ra(1,1)*100.0f; |
NaotoMorita | 23:1509648c2318 | 335 | R(2,2) = Ra(2,2)*100.0f; |
NaotoMorita | 23:1509648c2318 | 336 | R(3,3) = Ra(3,3)*100.0f; |
NaotoMorita | 23:1509648c2318 | 337 | //R(4,4) = Rgsc(1,1); |
NaotoMorita | 23:1509648c2318 | 338 | //R(5,5) = Rgsc(2,2); |
NaotoMorita | 23:1509648c2318 | 339 | R(4,4) = Rvsc(1,1); |
NaotoMorita | 23:1509648c2318 | 340 | R(5,5) = Rvsc(2,2); |
NaotoMorita | 23:1509648c2318 | 341 | |
NaotoMorita | 23:1509648c2318 | 342 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 23:1509648c2318 | 343 | Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref); |
NaotoMorita | 23:1509648c2318 | 344 | Matrix z(5,1); |
NaotoMorita | 23:1509648c2318 | 345 | z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << nomVb(1,1) << nomVb(3,1) ; |
NaotoMorita | 23:1509648c2318 | 346 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 23:1509648c2318 | 347 | errState = errState + corrVal; |
NaotoMorita | 23:1509648c2318 | 348 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 23:1509648c2318 | 349 | } |
NaotoMorita | 23:1509648c2318 | 350 | |
NaotoMorita | 25:07ac5c6cd61c | 351 | |
NaotoMorita | 21:d6079def0473 | 352 | |
NaotoMorita | 21:d6079def0473 | 353 | |
NaotoMorita | 19:3fae66745363 | 354 | void ScErrStateEKF::updateStaticAccMeasures(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 355 | { |
NaotoMorita | 19:3fae66745363 | 356 | Matrix dcm(3,3); |
NaotoMorita | 19:3fae66745363 | 357 | computeDcm(dcm, qhat); |
NaotoMorita | 19:3fae66745363 | 358 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 21:d6079def0473 | 359 | Matrix H(3,nState); |
NaotoMorita | 19:3fae66745363 | 360 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 19:3fae66745363 | 361 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 19:3fae66745363 | 362 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 19:3fae66745363 | 363 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 19:3fae66745363 | 364 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 19:3fae66745363 | 365 | H(3,2) = 2.0f*gvec.x; |
NaotoMorita | 19:3fae66745363 | 366 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra*100.0f); |
NaotoMorita | 19:3fae66745363 | 367 | Matrix accmat(3,1); |
NaotoMorita | 19:3fae66745363 | 368 | accmat << acc.x << acc.y << acc.z; |
NaotoMorita | 19:3fae66745363 | 369 | Matrix gref(3,1); |
NaotoMorita | 19:3fae66745363 | 370 | gref << 0.0f << 0.0f << accref.z; |
NaotoMorita | 19:3fae66745363 | 371 | Matrix z = accmat-dcm*gref; |
NaotoMorita | 19:3fae66745363 | 372 | errState = errState + K * (z-H*errState); |
NaotoMorita | 21:d6079def0473 | 373 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra*100.0f)*MatrixMath::Transpose(K); |
NaotoMorita | 19:3fae66745363 | 374 | } |
NaotoMorita | 19:3fae66745363 | 375 | |
NaotoMorita | 26:73c3f58b9d70 | 376 | void ScErrStateEKF::updateGPSVelocity(float speed, float direction) |
NaotoMorita | 19:3fae66745363 | 377 | { |
NaotoMorita | 21:d6079def0473 | 378 | Matrix H(3,nState); |
NaotoMorita | 26:73c3f58b9d70 | 379 | H(1,9) = 1.0f; |
NaotoMorita | 26:73c3f58b9d70 | 380 | H(2,10) = 1.0f; |
NaotoMorita | 26:73c3f58b9d70 | 381 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rgps); |
NaotoMorita | 26:73c3f58b9d70 | 382 | Matrix z(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 383 | z << speed * cos(direction / 180.0f * M_PI) - vihat(1,1) << speed * sin(direction / 180.0f * M_PI)-vihat(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 384 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 385 | errState = errState + corrVal; |
NaotoMorita | 26:73c3f58b9d70 | 386 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgps)*MatrixMath::Transpose(K); |
NaotoMorita | 19:3fae66745363 | 387 | } |
NaotoMorita | 19:3fae66745363 | 388 | |
NaotoMorita | 25:07ac5c6cd61c | 389 | void ScErrStateEKF::updateCenteredGyroBiasCorrection(float (&cBg)[3]) |
NaotoMorita | 25:07ac5c6cd61c | 390 | { |
NaotoMorita | 25:07ac5c6cd61c | 391 | |
NaotoMorita | 25:07ac5c6cd61c | 392 | Matrix RgyroBias(3,3); |
NaotoMorita | 25:07ac5c6cd61c | 393 | /* |
NaotoMorita | 25:07ac5c6cd61c | 394 | RgyroBias(1,1) = cBgCov[0]; |
NaotoMorita | 25:07ac5c6cd61c | 395 | RgyroBias(1,2) = cBgCov[1]; |
NaotoMorita | 25:07ac5c6cd61c | 396 | RgyroBias(2,1) = cBgCov[1]; |
NaotoMorita | 25:07ac5c6cd61c | 397 | RgyroBias(1,3) = cBgCov[2]; |
NaotoMorita | 25:07ac5c6cd61c | 398 | RgyroBias(3,1) = cBgCov[2]; |
NaotoMorita | 25:07ac5c6cd61c | 399 | RgyroBias(2,2) = cBgCov[3]; |
NaotoMorita | 25:07ac5c6cd61c | 400 | RgyroBias(2,3) = cBgCov[4]; |
NaotoMorita | 25:07ac5c6cd61c | 401 | RgyroBias(3,2) = cBgCov[4]; |
NaotoMorita | 25:07ac5c6cd61c | 402 | RgyroBias(3,3) = cBgCov[5]; |
NaotoMorita | 25:07ac5c6cd61c | 403 | */ |
NaotoMorita | 25:07ac5c6cd61c | 404 | for(int i = 1;i<4;i++){ |
NaotoMorita | 25:07ac5c6cd61c | 405 | RgyroBias(i,i) = 0.1f; |
NaotoMorita | 25:07ac5c6cd61c | 406 | } |
NaotoMorita | 25:07ac5c6cd61c | 407 | |
NaotoMorita | 25:07ac5c6cd61c | 408 | Matrix H(3,nState); |
NaotoMorita | 25:07ac5c6cd61c | 409 | H(1,4) = 1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 410 | H(2,5) = 1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 411 | H(3,6) = 1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 412 | |
NaotoMorita | 25:07ac5c6cd61c | 413 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RgyroBias); |
NaotoMorita | 25:07ac5c6cd61c | 414 | Matrix z(3,1); |
NaotoMorita | 25:07ac5c6cd61c | 415 | z <<cBg[0]-gyroBias.x <<cBg[1]-gyroBias.y <<cBg[2]-gyroBias.z; |
NaotoMorita | 25:07ac5c6cd61c | 416 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 25:07ac5c6cd61c | 417 | errState = errState + corrVal; |
NaotoMorita | 25:07ac5c6cd61c | 418 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RgyroBias)*MatrixMath::Transpose(K); |
NaotoMorita | 25:07ac5c6cd61c | 419 | |
NaotoMorita | 25:07ac5c6cd61c | 420 | //gyroBias.x = cBg[0]; |
NaotoMorita | 25:07ac5c6cd61c | 421 | //gyroBias.y = cBg[1]; |
NaotoMorita | 25:07ac5c6cd61c | 422 | //gyroBias.z = cBg[2]; |
NaotoMorita | 25:07ac5c6cd61c | 423 | } |
NaotoMorita | 25:07ac5c6cd61c | 424 | |
NaotoMorita | 25:07ac5c6cd61c | 425 | void ScErrStateEKF::updateCenteredAccBiasCorrection(float (&cBa)[3]) |
NaotoMorita | 25:07ac5c6cd61c | 426 | { |
NaotoMorita | 25:07ac5c6cd61c | 427 | |
NaotoMorita | 25:07ac5c6cd61c | 428 | Matrix RaccBias(3,3); |
NaotoMorita | 25:07ac5c6cd61c | 429 | for(int i = 1;i<4;i++){ |
NaotoMorita | 25:07ac5c6cd61c | 430 | RaccBias(i,i) = 5.0f; |
NaotoMorita | 25:07ac5c6cd61c | 431 | } |
NaotoMorita | 25:07ac5c6cd61c | 432 | |
NaotoMorita | 25:07ac5c6cd61c | 433 | Matrix H(3,nState); |
NaotoMorita | 25:07ac5c6cd61c | 434 | H(1,7) = 1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 435 | H(2,8) = 1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 436 | H(3,9) = 1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 437 | |
NaotoMorita | 25:07ac5c6cd61c | 438 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RaccBias); |
NaotoMorita | 25:07ac5c6cd61c | 439 | Matrix z(3,1); |
NaotoMorita | 25:07ac5c6cd61c | 440 | z <<cBa[0]-accBias.x <<cBa[1]-accBias.y <<cBa[2]-accBias.z; |
NaotoMorita | 25:07ac5c6cd61c | 441 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 25:07ac5c6cd61c | 442 | errState = errState + corrVal; |
NaotoMorita | 25:07ac5c6cd61c | 443 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RaccBias)*MatrixMath::Transpose(K); |
NaotoMorita | 25:07ac5c6cd61c | 444 | |
NaotoMorita | 25:07ac5c6cd61c | 445 | //gyroBias.x = cBg[0]; |
NaotoMorita | 25:07ac5c6cd61c | 446 | //gyroBias.y = cBg[1]; |
NaotoMorita | 25:07ac5c6cd61c | 447 | //gyroBias.z = cBg[2]; |
NaotoMorita | 25:07ac5c6cd61c | 448 | } |
NaotoMorita | 25:07ac5c6cd61c | 449 | |
NaotoMorita | 25:07ac5c6cd61c | 450 | |
NaotoMorita | 19:3fae66745363 | 451 | void ScErrStateEKF::resetBias() |
NaotoMorita | 19:3fae66745363 | 452 | { |
NaotoMorita | 19:3fae66745363 | 453 | gyroBias.x = gyroBias.x + errState(4,1)*1.0f; |
NaotoMorita | 19:3fae66745363 | 454 | gyroBias.y = gyroBias.y + errState(5,1)*1.0f; |
NaotoMorita | 19:3fae66745363 | 455 | gyroBias.z = gyroBias.z + errState(6,1)*1.0f; |
NaotoMorita | 19:3fae66745363 | 456 | errState(4,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 457 | errState(5,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 458 | errState(6,1) = 0.0f; |
NaotoMorita | 20:37d3c3ee36e9 | 459 | accBias.x = accBias.x + errState(7,1); |
NaotoMorita | 20:37d3c3ee36e9 | 460 | accBias.y = accBias.y + errState(8,1); |
NaotoMorita | 20:37d3c3ee36e9 | 461 | accBias.z = accBias.z + errState(9,1); |
NaotoMorita | 20:37d3c3ee36e9 | 462 | errState(7,1) = 0.0f; |
NaotoMorita | 20:37d3c3ee36e9 | 463 | errState(8,1) = 0.0f; |
NaotoMorita | 20:37d3c3ee36e9 | 464 | errState(9,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 465 | } |
NaotoMorita | 19:3fae66745363 | 466 | |
NaotoMorita | 19:3fae66745363 | 467 | void ScErrStateEKF::computeAngles(Vector3& rpy,Vector3 rpy_align) |
NaotoMorita | 19:3fae66745363 | 468 | { |
NaotoMorita | 19:3fae66745363 | 469 | Matrix qerr(4,1); |
NaotoMorita | 19:3fae66745363 | 470 | qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1); |
NaotoMorita | 19:3fae66745363 | 471 | //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr)); |
NaotoMorita | 19:3fae66745363 | 472 | //qerr *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 473 | Matrix qest = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 474 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qest),qest)); |
NaotoMorita | 19:3fae66745363 | 475 | qest *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 476 | float q0 = qest( 1, 1 ); |
NaotoMorita | 19:3fae66745363 | 477 | float q1 = qest( 2, 1 ); |
NaotoMorita | 19:3fae66745363 | 478 | float q2 = qest( 3, 1 ); |
NaotoMorita | 19:3fae66745363 | 479 | float q3 = qest( 4, 1 ); |
NaotoMorita | 19:3fae66745363 | 480 | rpy.x = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-rpy_align.x; |
NaotoMorita | 19:3fae66745363 | 481 | rpy.y = asinf(-2.0f * (q1*q3 - q0*q2))-rpy_align.y; |
NaotoMorita | 19:3fae66745363 | 482 | rpy.z = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3); |
NaotoMorita | 19:3fae66745363 | 483 | |
NaotoMorita | 19:3fae66745363 | 484 | } |
NaotoMorita | 19:3fae66745363 | 485 | |
NaotoMorita | 21:d6079def0473 | 486 | |
NaotoMorita | 21:d6079def0473 | 487 | void ScErrStateEKF::fuseErr2Nominal() |
NaotoMorita | 19:3fae66745363 | 488 | { |
NaotoMorita | 19:3fae66745363 | 489 | Matrix qerr(4,1); |
NaotoMorita | 19:3fae66745363 | 490 | qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1); |
NaotoMorita | 19:3fae66745363 | 491 | //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr)); |
NaotoMorita | 19:3fae66745363 | 492 | //qerr *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 493 | qhat = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 494 | errState(1,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 495 | errState(2,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 496 | errState(3,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 497 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 498 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 499 | |
NaotoMorita | 23:1509648c2318 | 500 | vihat(1,1) += errState(10,1); |
NaotoMorita | 23:1509648c2318 | 501 | vihat(2,1) += errState(11,1); |
NaotoMorita | 23:1509648c2318 | 502 | vihat(3,1) += errState(12,1); |
NaotoMorita | 23:1509648c2318 | 503 | errState(10,1) = 0.0f; |
NaotoMorita | 23:1509648c2318 | 504 | errState(11,1) = 0.0f; |
NaotoMorita | 23:1509648c2318 | 505 | errState(12,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 506 | } |
NaotoMorita | 19:3fae66745363 | 507 | |
NaotoMorita | 19:3fae66745363 | 508 | Matrix ScErrStateEKF::quatmultiply(Matrix q, Matrix r) |
NaotoMorita | 19:3fae66745363 | 509 | { |
NaotoMorita | 19:3fae66745363 | 510 | Matrix qout(4,1); |
NaotoMorita | 19:3fae66745363 | 511 | 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 | 512 | 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 | 513 | 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 | 514 | 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 | 515 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); |
NaotoMorita | 19:3fae66745363 | 516 | qout *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 517 | return qout; |
NaotoMorita | 19:3fae66745363 | 518 | } |
NaotoMorita | 19:3fae66745363 | 519 | |
NaotoMorita | 19:3fae66745363 | 520 | void ScErrStateEKF::computeDcm(Matrix& dcm, Matrix quat) |
NaotoMorita | 19:3fae66745363 | 521 | { |
NaotoMorita | 19:3fae66745363 | 522 | |
NaotoMorita | 19:3fae66745363 | 523 | float q0 = quat( 1, 1 ); |
NaotoMorita | 19:3fae66745363 | 524 | float q1 = quat( 2, 1 ); |
NaotoMorita | 19:3fae66745363 | 525 | float q2 = quat( 3, 1 ); |
NaotoMorita | 19:3fae66745363 | 526 | float q3 = quat( 4, 1 ); |
NaotoMorita | 19:3fae66745363 | 527 | |
NaotoMorita | 19:3fae66745363 | 528 | dcm(1,1) = q0*q0 + q1*q1 - q2*q2 - q3*q3; |
NaotoMorita | 19:3fae66745363 | 529 | dcm(1,2) = 2*(q1*q2 + q0*q3); |
NaotoMorita | 19:3fae66745363 | 530 | dcm(1,3) = 2*(q1*q3 - q0*q2); |
NaotoMorita | 19:3fae66745363 | 531 | dcm(2,1) = 2*(q1*q2 - q0*q3); |
NaotoMorita | 19:3fae66745363 | 532 | dcm(2,2) = q0*q0 - q1*q1 + q2*q2 - q3*q3; |
NaotoMorita | 19:3fae66745363 | 533 | dcm(2,3) = 2*(q2*q3 + q0*q1); |
NaotoMorita | 19:3fae66745363 | 534 | dcm(3,1) = 2*(q1*q3 + q0*q2); |
NaotoMorita | 19:3fae66745363 | 535 | dcm(3,2) = 2*(q2*q3 - q0*q1); |
NaotoMorita | 19:3fae66745363 | 536 | dcm(3,3) = q0*q0 - q1*q1 - q2*q2 + q3*q3; |
NaotoMorita | 19:3fae66745363 | 537 | |
NaotoMorita | 19:3fae66745363 | 538 | } |
NaotoMorita | 19:3fae66745363 | 539 | |
NaotoMorita | 19:3fae66745363 | 540 | void ScErrStateEKF::defineQhat(Vector3 align){ |
NaotoMorita | 19:3fae66745363 | 541 | float cos_z_2 = cosf(0.5f*align.z); |
NaotoMorita | 19:3fae66745363 | 542 | float cos_y_2 = cosf(0.5f*align.y); |
NaotoMorita | 19:3fae66745363 | 543 | float cos_x_2 = cosf(0.5f*align.x); |
NaotoMorita | 19:3fae66745363 | 544 | |
NaotoMorita | 19:3fae66745363 | 545 | float sin_z_2 = sinf(0.5f*align.z); |
NaotoMorita | 19:3fae66745363 | 546 | float sin_y_2 = sinf(0.5f*align.y); |
NaotoMorita | 19:3fae66745363 | 547 | float sin_x_2 = sinf(0.5f*align.x); |
NaotoMorita | 19:3fae66745363 | 548 | |
NaotoMorita | 19:3fae66745363 | 549 | // and now compute quaternion |
NaotoMorita | 19:3fae66745363 | 550 | qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 551 | qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
NaotoMorita | 19:3fae66745363 | 552 | qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 553 | qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 554 | } |
NaotoMorita | 19:3fae66745363 | 555 | |
NaotoMorita | 23:1509648c2318 | 556 | void ScErrStateEKF::computeVb(Vector3& vb) |
NaotoMorita | 23:1509648c2318 | 557 | { |
NaotoMorita | 23:1509648c2318 | 558 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 559 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 560 | Matrix vbmat = dcm*vihat; |
NaotoMorita | 23:1509648c2318 | 561 | vb.x = vbmat(1,1); |
NaotoMorita | 23:1509648c2318 | 562 | vb.y = vbmat(2,1); |
NaotoMorita | 23:1509648c2318 | 563 | vb.z = vbmat(3,1); |
NaotoMorita | 23:1509648c2318 | 564 | |
NaotoMorita | 23:1509648c2318 | 565 | } |
NaotoMorita | 23:1509648c2318 | 566 | |
NaotoMorita | 19:3fae66745363 | 567 | |
NaotoMorita | 19:3fae66745363 | 568 | |
NaotoMorita | 19:3fae66745363 | 569 | Vector3 ScErrStateEKF::calcDynAcc(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 570 | { |
NaotoMorita | 19:3fae66745363 | 571 | Matrix dcm(3,3); |
NaotoMorita | 19:3fae66745363 | 572 | computeDcm(dcm, qhat); |
NaotoMorita | 19:3fae66745363 | 573 | float _x, _y, _z; |
NaotoMorita | 19:3fae66745363 | 574 | _x = acc.x-(dcm( 1, 1 )*accref.x+dcm( 1, 2 )*accref.y+dcm( 1, 3 )*accref.z); |
NaotoMorita | 19:3fae66745363 | 575 | _y = acc.y-(dcm( 2, 1 )*accref.x+dcm( 2, 2 )*accref.y+dcm( 2, 3 )*accref.z); |
NaotoMorita | 19:3fae66745363 | 576 | _z = acc.z-(dcm( 3, 1 )*accref.x+dcm( 3, 2 )*accref.y+dcm( 3, 3 )*accref.z); |
NaotoMorita | 19:3fae66745363 | 577 | return Vector3(_x, _y, _z); |
NaotoMorita | 19:3fae66745363 | 578 | } |
NaotoMorita | 19:3fae66745363 | 579 | |
NaotoMorita | 19:3fae66745363 | 580 | |
NaotoMorita | 19:3fae66745363 | 581 | bool ScErrStateEKF::determinDynStatus(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 582 | { |
NaotoMorita | 19:3fae66745363 | 583 | histffunc[histffuncindex] = acc.Norm()*acc.Norm()-accref.Norm()*accref.Norm()-3.0f*sigma2a; |
NaotoMorita | 19:3fae66745363 | 584 | if(histffuncindex<9){ |
NaotoMorita | 19:3fae66745363 | 585 | histffuncindex += 1; |
NaotoMorita | 19:3fae66745363 | 586 | }else{ |
NaotoMorita | 19:3fae66745363 | 587 | histffuncindex =0; |
NaotoMorita | 19:3fae66745363 | 588 | } |
NaotoMorita | 19:3fae66745363 | 589 | aveffunc = 0; |
NaotoMorita | 19:3fae66745363 | 590 | for(int i = 1;i<10;i++){ |
NaotoMorita | 19:3fae66745363 | 591 | aveffunc += 1.0f/10.0f*histffunc[i]; |
NaotoMorita | 19:3fae66745363 | 592 | } |
NaotoMorita | 19:3fae66745363 | 593 | sigma2f = 1.0f/10.0f*(6.0f*sigma2a*sigma2a+4.0f*accref.Norm()*accref.Norm()*sigma2a); |
NaotoMorita | 19:3fae66745363 | 594 | |
NaotoMorita | 19:3fae66745363 | 595 | |
NaotoMorita | 19:3fae66745363 | 596 | dynacc = calcDynAcc(acc,accref); |
NaotoMorita | 19:3fae66745363 | 597 | bool dynCase = true; |
NaotoMorita | 19:3fae66745363 | 598 | if((dynacc.Norm()<0.005f) && (abs(acc.Norm()-accref.Norm())<0.005f)){dynCase = false;} |
NaotoMorita | 19:3fae66745363 | 599 | if(aveffunc<sqrt(sigma2f/0.99f) && abs(acc.Norm()-accref.Norm())<0.001f){dynCase = false;} |
NaotoMorita | 19:3fae66745363 | 600 | return dynCase; |
NaotoMorita | 19:3fae66745363 | 601 | |
NaotoMorita | 19:3fae66745363 | 602 | } |
NaotoMorita | 19:3fae66745363 | 603 | |
NaotoMorita | 22:7d84b8bc20b4 | 604 | /* |
NaotoMorita | 22:7d84b8bc20b4 | 605 | void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt) |
NaotoMorita | 22:7d84b8bc20b4 | 606 | { |
NaotoMorita | 22:7d84b8bc20b4 | 607 | gyro -= gyroBias; |
NaotoMorita | 22:7d84b8bc20b4 | 608 | acc -= accBias; |
NaotoMorita | 22:7d84b8bc20b4 | 609 | Matrix A(4,4); |
NaotoMorita | 22:7d84b8bc20b4 | 610 | A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z |
NaotoMorita | 22:7d84b8bc20b4 | 611 | << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y |
NaotoMorita | 22:7d84b8bc20b4 | 612 | << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x |
NaotoMorita | 22:7d84b8bc20b4 | 613 | << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ; |
NaotoMorita | 22:7d84b8bc20b4 | 614 | |
NaotoMorita | 22:7d84b8bc20b4 | 615 | Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 22:7d84b8bc20b4 | 616 | qhat = phi * qhat; |
NaotoMorita | 22:7d84b8bc20b4 | 617 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 22:7d84b8bc20b4 | 618 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 22:7d84b8bc20b4 | 619 | |
NaotoMorita | 22:7d84b8bc20b4 | 620 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 621 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 622 | vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f; |
NaotoMorita | 22:7d84b8bc20b4 | 623 | } |
NaotoMorita | 19:3fae66745363 | 624 | |
NaotoMorita | 22:7d84b8bc20b4 | 625 | void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt) |
NaotoMorita | 22:7d84b8bc20b4 | 626 | { |
NaotoMorita | 22:7d84b8bc20b4 | 627 | gyro -= gyroBias; |
NaotoMorita | 22:7d84b8bc20b4 | 628 | acc -= accBias; |
NaotoMorita | 22:7d84b8bc20b4 | 629 | Matrix A(nState,nState); |
NaotoMorita | 22:7d84b8bc20b4 | 630 | A(1,2) = gyro.z; |
NaotoMorita | 22:7d84b8bc20b4 | 631 | A(1,3) = -gyro.y; |
NaotoMorita | 22:7d84b8bc20b4 | 632 | A(2,1) = -gyro.z; |
NaotoMorita | 22:7d84b8bc20b4 | 633 | A(2,3) = gyro.x; |
NaotoMorita | 22:7d84b8bc20b4 | 634 | A(3,1) = gyro.y; |
NaotoMorita | 22:7d84b8bc20b4 | 635 | A(3,2) = -gyro.x; |
NaotoMorita | 22:7d84b8bc20b4 | 636 | A(1,4) = -0.5f; |
NaotoMorita | 22:7d84b8bc20b4 | 637 | A(2,5) = -0.5f; |
NaotoMorita | 22:7d84b8bc20b4 | 638 | A(3,6) = -0.5f; |
NaotoMorita | 22:7d84b8bc20b4 | 639 | |
NaotoMorita | 22:7d84b8bc20b4 | 640 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 641 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 642 | Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z); |
NaotoMorita | 22:7d84b8bc20b4 | 643 | Matrix baterm = -9.8f*MatrixMath::Transpose(dcm); |
NaotoMorita | 22:7d84b8bc20b4 | 644 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 22:7d84b8bc20b4 | 645 | for (int j = 1; i < 4; i++){ |
NaotoMorita | 22:7d84b8bc20b4 | 646 | A(i+9,j) = qeterm(i,j); |
NaotoMorita | 22:7d84b8bc20b4 | 647 | A(i+9,j+6) = baterm(i,j); |
NaotoMorita | 22:7d84b8bc20b4 | 648 | } |
NaotoMorita | 22:7d84b8bc20b4 | 649 | } |
NaotoMorita | 22:7d84b8bc20b4 | 650 | |
NaotoMorita | 22:7d84b8bc20b4 | 651 | Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 22:7d84b8bc20b4 | 652 | 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 | 653 | errState = phi * errState; |
NaotoMorita | 22:7d84b8bc20b4 | 654 | Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd; |
NaotoMorita | 22:7d84b8bc20b4 | 655 | } |
NaotoMorita | 22:7d84b8bc20b4 | 656 | |
NaotoMorita | 22:7d84b8bc20b4 | 657 | void ScErrStateEKF::updateVelocityConstraints() |
NaotoMorita | 22:7d84b8bc20b4 | 658 | { |
NaotoMorita | 22:7d84b8bc20b4 | 659 | |
NaotoMorita | 22:7d84b8bc20b4 | 660 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 661 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 662 | Matrix H(2,nState); |
NaotoMorita | 22:7d84b8bc20b4 | 663 | |
NaotoMorita | 22:7d84b8bc20b4 | 664 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 22:7d84b8bc20b4 | 665 | Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 666 | for(int j = 1;j<4;j++){ |
NaotoMorita | 22:7d84b8bc20b4 | 667 | H(1,j) = -qeterm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 668 | H(2,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 669 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 670 | H(1,9+j) = -dcm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 671 | H(2,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 672 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 673 | } |
NaotoMorita | 22:7d84b8bc20b4 | 674 | |
NaotoMorita | 22:7d84b8bc20b4 | 675 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc); |
NaotoMorita | 22:7d84b8bc20b4 | 676 | Matrix z(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 677 | z << nomVb(1,1) << nomVb(3,1) ; |
NaotoMorita | 22:7d84b8bc20b4 | 678 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 22:7d84b8bc20b4 | 679 | errState = errState + corrVal; |
NaotoMorita | 22:7d84b8bc20b4 | 680 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K); |
NaotoMorita | 22:7d84b8bc20b4 | 681 | |
NaotoMorita | 22:7d84b8bc20b4 | 682 | } |
NaotoMorita | 22:7d84b8bc20b4 | 683 | |
NaotoMorita | 22:7d84b8bc20b4 | 684 | void ScErrStateEKF::updateConstraints(Vector3 gyro) |
NaotoMorita | 22:7d84b8bc20b4 | 685 | { |
NaotoMorita | 22:7d84b8bc20b4 | 686 | |
NaotoMorita | 22:7d84b8bc20b4 | 687 | gyro -=gyroBias; |
NaotoMorita | 22:7d84b8bc20b4 | 688 | |
NaotoMorita | 22:7d84b8bc20b4 | 689 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 690 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 691 | |
NaotoMorita | 22:7d84b8bc20b4 | 692 | Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z); |
NaotoMorita | 22:7d84b8bc20b4 | 693 | Matrix H(4,nState); |
NaotoMorita | 22:7d84b8bc20b4 | 694 | for(int i = 1; i<3; i++){ |
NaotoMorita | 22:7d84b8bc20b4 | 695 | for(int j = 1;j<4;j++){ |
NaotoMorita | 22:7d84b8bc20b4 | 696 | H(i,j) = qeterm(i,j); |
NaotoMorita | 22:7d84b8bc20b4 | 697 | } |
NaotoMorita | 22:7d84b8bc20b4 | 698 | } |
NaotoMorita | 22:7d84b8bc20b4 | 699 | H(1,4) = 1.0f*(dcm(1,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 700 | H(1,5) = 1.0f*(dcm(2,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 701 | H(1,6) = 1.0f*(dcm(3,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 702 | H(2,4) = 1.0f*(dcm(1,2)); |
NaotoMorita | 22:7d84b8bc20b4 | 703 | H(2,5) = 1.0f*(dcm(2,2)); |
NaotoMorita | 22:7d84b8bc20b4 | 704 | H(2,6) = 1.0f*(dcm(3,2)); |
NaotoMorita | 22:7d84b8bc20b4 | 705 | |
NaotoMorita | 22:7d84b8bc20b4 | 706 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 22:7d84b8bc20b4 | 707 | qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 708 | for(int j = 1;j<4;j++){ |
NaotoMorita | 22:7d84b8bc20b4 | 709 | H(3,j) = -qeterm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 710 | H(4,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 711 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 712 | H(3,9+j) = -dcm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 713 | H(4,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 714 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 715 | } |
NaotoMorita | 22:7d84b8bc20b4 | 716 | |
NaotoMorita | 22:7d84b8bc20b4 | 717 | Matrix R(4,4); |
NaotoMorita | 22:7d84b8bc20b4 | 718 | R(1,1) = Rgsc(1,1); |
NaotoMorita | 22:7d84b8bc20b4 | 719 | R(2,2) = Rgsc(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 720 | R(3,3) = Rvsc(1,1); |
NaotoMorita | 22:7d84b8bc20b4 | 721 | R(4,4) = Rvsc(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 722 | //R(5,5) = Rvsc(3,1); |
NaotoMorita | 22:7d84b8bc20b4 | 723 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 22:7d84b8bc20b4 | 724 | Matrix z(4,1); |
NaotoMorita | 22:7d84b8bc20b4 | 725 | 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 | 726 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 22:7d84b8bc20b4 | 727 | errState = errState + corrVal; |
NaotoMorita | 22:7d84b8bc20b4 | 728 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 22:7d84b8bc20b4 | 729 | } |
NaotoMorita | 22:7d84b8bc20b4 | 730 | |
NaotoMorita | 22:7d84b8bc20b4 | 731 | void ScErrStateEKF::computeVb(Vector3& vb) |
NaotoMorita | 22:7d84b8bc20b4 | 732 | { |
NaotoMorita | 22:7d84b8bc20b4 | 733 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 734 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 735 | Matrix vbmat = dcm*vihat; |
NaotoMorita | 22:7d84b8bc20b4 | 736 | vb.x = vbmat(1,1); |
NaotoMorita | 22:7d84b8bc20b4 | 737 | vb.y = vbmat(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 738 | vb.z = vbmat(3,1); |
NaotoMorita | 22:7d84b8bc20b4 | 739 | |
NaotoMorita | 22:7d84b8bc20b4 | 740 | } |
NaotoMorita | 26:73c3f58b9d70 | 741 | |
NaotoMorita | 26:73c3f58b9d70 | 742 | void ScErrStateEKF::updateMagMeasures(Vector3 mag) |
NaotoMorita | 26:73c3f58b9d70 | 743 | { |
NaotoMorita | 26:73c3f58b9d70 | 744 | //mag = mag/mag.Norm(); |
NaotoMorita | 26:73c3f58b9d70 | 745 | Matrix dcm(3,3); |
NaotoMorita | 26:73c3f58b9d70 | 746 | computeDcm(dcm, qhat); |
NaotoMorita | 26:73c3f58b9d70 | 747 | |
NaotoMorita | 26:73c3f58b9d70 | 748 | Matrix magvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 749 | magvec(1,1) = mag.x; |
NaotoMorita | 26:73c3f58b9d70 | 750 | magvec(2,1) = mag.y; |
NaotoMorita | 26:73c3f58b9d70 | 751 | magvec(3,1) = mag.z; |
NaotoMorita | 26:73c3f58b9d70 | 752 | |
NaotoMorita | 26:73c3f58b9d70 | 753 | Matrix magnedvec = MatrixMath::Transpose(dcm)*magvec; |
NaotoMorita | 26:73c3f58b9d70 | 754 | Matrix magrefmod(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 755 | magrefmod(1,1) = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1)); |
NaotoMorita | 26:73c3f58b9d70 | 756 | magrefmod(2,1) = 0.0f; |
NaotoMorita | 26:73c3f58b9d70 | 757 | magrefmod(3,1) = magnedvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 758 | |
NaotoMorita | 26:73c3f58b9d70 | 759 | Matrix mvec = dcm*magrefmod ; |
NaotoMorita | 26:73c3f58b9d70 | 760 | Matrix H(3,nState); |
NaotoMorita | 26:73c3f58b9d70 | 761 | H(1,2) = -2.0f*magvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 762 | H(1,3) = 2.0f*magvec(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 763 | H(2,1) = 2.0f*magvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 764 | H(2,3) = -2.0f*magvec(1,1); |
NaotoMorita | 26:73c3f58b9d70 | 765 | H(3,1) = -2.0f*magvec(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 766 | H(3,2) = 2.0f*magvec(1,1); |
NaotoMorita | 26:73c3f58b9d70 | 767 | Matrix Pm(nState,nState); |
NaotoMorita | 26:73c3f58b9d70 | 768 | for(int i = 1; i<4; i++){ |
NaotoMorita | 26:73c3f58b9d70 | 769 | for(int j = 1;j<4;j++){ |
NaotoMorita | 26:73c3f58b9d70 | 770 | Pm(i,j) = Phat(i,j); |
NaotoMorita | 26:73c3f58b9d70 | 771 | } |
NaotoMorita | 26:73c3f58b9d70 | 772 | } |
NaotoMorita | 26:73c3f58b9d70 | 773 | Matrix r3(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 774 | r3 << dcm(1,3)<< dcm(2,3) << dcm(3,3); |
NaotoMorita | 26:73c3f58b9d70 | 775 | Matrix kpart = r3*MatrixMath::Transpose(r3); |
NaotoMorita | 26:73c3f58b9d70 | 776 | Matrix Kmod(nState,nState); |
NaotoMorita | 26:73c3f58b9d70 | 777 | for(int i = 1; i<4; i++){ |
NaotoMorita | 26:73c3f58b9d70 | 778 | for(int j = 1;j<4;j++){ |
NaotoMorita | 26:73c3f58b9d70 | 779 | Kmod(i,j) = kpart(i,j); |
NaotoMorita | 26:73c3f58b9d70 | 780 | } |
NaotoMorita | 26:73c3f58b9d70 | 781 | } |
NaotoMorita | 26:73c3f58b9d70 | 782 | |
NaotoMorita | 26:73c3f58b9d70 | 783 | Matrix K = Kmod*(Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rm); |
NaotoMorita | 26:73c3f58b9d70 | 784 | Matrix z = magvec-mvec; |
NaotoMorita | 26:73c3f58b9d70 | 785 | errState = errState + K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 786 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rm)*MatrixMath::Transpose(K); |
NaotoMorita | 26:73c3f58b9d70 | 787 | } |
NaotoMorita | 26:73c3f58b9d70 | 788 | |
NaotoMorita | 26:73c3f58b9d70 | 789 | void ScErrStateEKF::updateVelocityConstraints() |
NaotoMorita | 26:73c3f58b9d70 | 790 | { |
NaotoMorita | 26:73c3f58b9d70 | 791 | |
NaotoMorita | 26:73c3f58b9d70 | 792 | Matrix dcm(3,3); |
NaotoMorita | 26:73c3f58b9d70 | 793 | computeDcm(dcm, qhat); |
NaotoMorita | 26:73c3f58b9d70 | 794 | Matrix H(2,nState); |
NaotoMorita | 26:73c3f58b9d70 | 795 | |
NaotoMorita | 26:73c3f58b9d70 | 796 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 26:73c3f58b9d70 | 797 | Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 26:73c3f58b9d70 | 798 | for(int j = 1;j<4;j++){ |
NaotoMorita | 26:73c3f58b9d70 | 799 | H(1,j) = -qeterm(1,j); |
NaotoMorita | 26:73c3f58b9d70 | 800 | H(2,j) = -qeterm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 801 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 802 | H(1,9+j) = -dcm(1,j); |
NaotoMorita | 26:73c3f58b9d70 | 803 | H(2,9+j) = -dcm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 804 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 805 | } |
NaotoMorita | 26:73c3f58b9d70 | 806 | |
NaotoMorita | 26:73c3f58b9d70 | 807 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc); |
NaotoMorita | 26:73c3f58b9d70 | 808 | Matrix z(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 809 | z << nomVb(1,1) << nomVb(3,1) ; |
NaotoMorita | 26:73c3f58b9d70 | 810 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 811 | errState = errState + corrVal; |
NaotoMorita | 26:73c3f58b9d70 | 812 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K); |
NaotoMorita | 26:73c3f58b9d70 | 813 | |
NaotoMorita | 26:73c3f58b9d70 | 814 | } |
NaotoMorita | 22:7d84b8bc20b4 | 815 | */ |
NaotoMorita | 22:7d84b8bc20b4 | 816 | |
NaotoMorita | 22:7d84b8bc20b4 | 817 |