HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

solaESKF.cpp@63:74a9565a0141, 2021-11-17 (annotated)

Committer:
NaotoMorita
Date:
Wed Nov 17 01:40:33 2021 +0000
Revision:
63:74a9565a0141
Parent:
62:5519d34eb6e8
Child:
65:c25d7810de44
mod

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 62:5519d34eb6e8 6 :pihat(3,1),vihat(3,1),qhat(4,1),accBias(3,1),gyroBias(3,1),gravity(3,1),magBias(3,1),errState(20,1),Phat(20,20),Q(20,20)
NaotoMorita 62:5519d34eb6e8 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 62:5519d34eb6e8 14 magBias << 0.0f << 0.0f << 0.0f;
NaotoMorita 62:5519d34eb6e8 15 magRadius = 0.0f;
NaotoMorita 58:93ba28cf5cb3 16
NaotoMorita 62:5519d34eb6e8 17 nState = errState.getRows();
NaotoMorita 62:5519d34eb6e8 18
NaotoMorita 58:93ba28cf5cb3 19 for (int i = 1; i < nState+1; i++){
NaotoMorita 46:15988dc41923 20 errState(i,1) = 0.0f;
NaotoMorita 58:93ba28cf5cb3 21 for (int j = 1; j < nState+1; j++){
NaotoMorita 46:15988dc41923 22 Phat(i,j) = 0.0f;
NaotoMorita 46:15988dc41923 23 Q(i,j) = 0.0f;
NaotoMorita 46:15988dc41923 24 }
NaotoMorita 46:15988dc41923 25 }
NaotoMorita 62:5519d34eb6e8 26
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 47:2467de40951f 30 setBlockDiag(Phat,0.1f,10,12);//acc bias
NaotoMorita 47:2467de40951f 31 setBlockDiag(Phat,0.1f,13,15);//gyro bias
NaotoMorita 62:5519d34eb6e8 32 setBlockDiag(Phat,0.00000001f,16,16);//gravity
NaotoMorita 62:5519d34eb6e8 33 setBlockDiag(Phat,0.001f,17,19);//magBias
NaotoMorita 62:5519d34eb6e8 34 setBlockDiag(Phat,0.001f,20,20);//magRadius
NaotoMorita 47:2467de40951f 35 setBlockDiag(Q,0.00025f,4,6);//velocity
NaotoMorita 55:21611d4cf7e8 36 setBlockDiag(Q,0.005f/57.0f,7,9);//angle error
NaotoMorita 46:15988dc41923 37 setBlockDiag(Q,0.001f,10,12);//acc bias
NaotoMorita 62:5519d34eb6e8 38 setBlockDiag(Q,0.001f,13,15);//gyro bias
NaotoMorita 62:5519d34eb6e8 39 setBlockDiag(Q,0.001f,17,19);//magRadius
NaotoMorita 62:5519d34eb6e8 40 setBlockDiag(Q,0.0001f,20,20);//magRadius //positionとgravityはQ項なし
NaotoMorita 19:3fae66745363 41
NaotoMorita 19:3fae66745363 42 }
NaotoMorita 19:3fae66745363 43
NaotoMorita 47:2467de40951f 44
NaotoMorita 44:7d82e63b6a86 45 void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt)
NaotoMorita 19:3fae66745363 46 {
NaotoMorita 44:7d82e63b6a86 47 Matrix gyrom = gyro - gyroBias;
NaotoMorita 44:7d82e63b6a86 48 Matrix accm = acc - accBias;
NaotoMorita 44:7d82e63b6a86 49
NaotoMorita 44:7d82e63b6a86 50 Matrix qint(4,1);
NaotoMorita 46:15988dc41923 51 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 52 qhat = quatmultiply(qhat,qint);
NaotoMorita 19:3fae66745363 53 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 54 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 55
NaotoMorita 23:1509648c2318 56 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 57 computeDcm(dcm, qhat);
NaotoMorita 46:15988dc41923 58 Matrix accned = dcm*accm+gravity;
NaotoMorita 44:7d82e63b6a86 59 vihat += accned*att_dt;
NaotoMorita 44:7d82e63b6a86 60
NaotoMorita 44:7d82e63b6a86 61 pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt;
NaotoMorita 19:3fae66745363 62 }
NaotoMorita 19:3fae66745363 63
NaotoMorita 44:7d82e63b6a86 64 void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt)
NaotoMorita 23:1509648c2318 65 {
NaotoMorita 44:7d82e63b6a86 66 Matrix gyrom = gyro - gyroBias;
NaotoMorita 44:7d82e63b6a86 67 Matrix accm = acc - accBias;
NaotoMorita 23:1509648c2318 68
NaotoMorita 23:1509648c2318 69 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 70 computeDcm(dcm, qhat);
NaotoMorita 47:2467de40951f 71 Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1));
NaotoMorita 44:7d82e63b6a86 72
NaotoMorita 47:2467de40951f 73 Matrix A(nState,nState);
NaotoMorita 44:7d82e63b6a86 74 //position
NaotoMorita 47:2467de40951f 75 A(1,4) = 1.0f;
NaotoMorita 47:2467de40951f 76 A(2,5) = 1.0f;
NaotoMorita 47:2467de40951f 77 A(3,6) = 1.0f;
NaotoMorita 47:2467de40951f 78
NaotoMorita 47:2467de40951f 79 //velocity
NaotoMorita 46:15988dc41923 80 for (int i = 1; i < 4; i++){
NaotoMorita 46:15988dc41923 81 for (int j = 1; j < 4; j++){
NaotoMorita 47:2467de40951f 82 A(i+3,j+6) = a2v(i,j);
NaotoMorita 47:2467de40951f 83 A(i+3,j+9) = -dcm(i,j);
NaotoMorita 47:2467de40951f 84
NaotoMorita 23:1509648c2318 85 }
NaotoMorita 23:1509648c2318 86 }
NaotoMorita 59:03fe5e16a33c 87 A(6,16) = 1.0f;
NaotoMorita 23:1509648c2318 88
NaotoMorita 44:7d82e63b6a86 89 //angulat error
NaotoMorita 47:2467de40951f 90 A(7,8) = gyrom(3,1);
NaotoMorita 47:2467de40951f 91 A(7,9) = -gyrom(2,1);
NaotoMorita 47:2467de40951f 92 A(8,7) = -gyrom(3,1);
NaotoMorita 47:2467de40951f 93 A(8,9) = gyrom(1,1);
NaotoMorita 47:2467de40951f 94 A(9,7) = gyrom(2,1);
NaotoMorita 47:2467de40951f 95 A(9,8) = -gyrom(1,1);
NaotoMorita 47:2467de40951f 96 A(7,13) = -1.0f;
NaotoMorita 47:2467de40951f 97 A(8,14) = -1.0f;
NaotoMorita 47:2467de40951f 98 A(9,15) = -1.0f;
NaotoMorita 25:07ac5c6cd61c 99
NaotoMorita 47:2467de40951f 100
NaotoMorita 47:2467de40951f 101 Matrix Fx = MatrixMath::Eye(nState) + A * att_dt;// + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 59:03fe5e16a33c 102 for (int i = 1; i < nState+1; i++){
NaotoMorita 59:03fe5e16a33c 103 if(i>3 && i<10){
NaotoMorita 59:03fe5e16a33c 104 Q(i,i) *=att_dt;
NaotoMorita 59:03fe5e16a33c 105 }else if(i>9 && i<16){
NaotoMorita 59:03fe5e16a33c 106 Q(i,i) *= att_dt*att_dt;
NaotoMorita 59:03fe5e16a33c 107 }else if(i>16 && i<nState+1){
NaotoMorita 59:03fe5e16a33c 108 Q(i,i) *=att_dt*att_dt;
NaotoMorita 59:03fe5e16a33c 109 }else{
NaotoMorita 59:03fe5e16a33c 110 Q(i,i) = 0.0f;
NaotoMorita 59:03fe5e16a33c 111 }
NaotoMorita 59:03fe5e16a33c 112 }
NaotoMorita 44:7d82e63b6a86 113 errState = Fx * errState;
NaotoMorita 59:03fe5e16a33c 114 Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Q;
NaotoMorita 25:07ac5c6cd61c 115 }
NaotoMorita 25:07ac5c6cd61c 116
NaotoMorita 61:5e5c4fe12440 117 void solaESKF::updateAcc(Matrix acc,Matrix R)
NaotoMorita 46:15988dc41923 118 {
NaotoMorita 46:15988dc41923 119 Matrix accm = acc - accBias;
NaotoMorita 56:c10f1168bd4a 120 Matrix dcm(3,3);
NaotoMorita 56:c10f1168bd4a 121 computeDcm(dcm, qhat);
NaotoMorita 56:c10f1168bd4a 122 Matrix tdcm = MatrixMath::Transpose(dcm);
NaotoMorita 46:15988dc41923 123 Matrix tdcm_g = tdcm*gravity;
NaotoMorita 59:03fe5e16a33c 124 Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1));
NaotoMorita 46:15988dc41923 125
NaotoMorita 61:5e5c4fe12440 126 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 127 for (int i = 1; i < 4; i++){
NaotoMorita 59:03fe5e16a33c 128 for (int j = 1; j < 4; j++){
NaotoMorita 59:03fe5e16a33c 129 H(i,j+6) = rotgrav(i,j);
NaotoMorita 46:15988dc41923 130 }
NaotoMorita 59:03fe5e16a33c 131 H(i,16) = tdcm(i,3);
NaotoMorita 58:93ba28cf5cb3 132 }
NaotoMorita 56:c10f1168bd4a 133
NaotoMorita 46:15988dc41923 134 H(1,10) = -1.0f;
NaotoMorita 46:15988dc41923 135 H(2,11) = -1.0f;
NaotoMorita 46:15988dc41923 136 H(3,12) = -1.0f;
NaotoMorita 59:03fe5e16a33c 137
NaotoMorita 61:5e5c4fe12440 138 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 61:5e5c4fe12440 139 Matrix zacc = -accm-tdcm*gravity;
NaotoMorita 61:5e5c4fe12440 140 Matrix z(3,1);
NaotoMorita 61:5e5c4fe12440 141 z << zacc(1,1) << zacc(2,1) << zacc(3,1);
NaotoMorita 61:5e5c4fe12440 142 errState = K * z;
NaotoMorita 61:5e5c4fe12440 143 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 61:5e5c4fe12440 144
NaotoMorita 61:5e5c4fe12440 145 fuseErr2Nominal();
NaotoMorita 61:5e5c4fe12440 146 }
NaotoMorita 61:5e5c4fe12440 147 void solaESKF::updateMag(Matrix mag,Matrix R)
NaotoMorita 61:5e5c4fe12440 148 {
NaotoMorita 62:5519d34eb6e8 149 Matrix magm = mag-magBias;
NaotoMorita 61:5e5c4fe12440 150 Matrix dcm(3,3);
NaotoMorita 61:5e5c4fe12440 151 computeDcm(dcm, qhat);
NaotoMorita 61:5e5c4fe12440 152 Matrix tdcm = MatrixMath::Transpose(dcm);
NaotoMorita 61:5e5c4fe12440 153 Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1));
NaotoMorita 61:5e5c4fe12440 154
NaotoMorita 61:5e5c4fe12440 155 Matrix H(3,nState);
NaotoMorita 63:74a9565a0141 156 int nH = H.getRows();
NaotoMorita 61:5e5c4fe12440 157
NaotoMorita 59:03fe5e16a33c 158 Matrix magned = dcm*magm;
NaotoMorita 59:03fe5e16a33c 159 float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1));
NaotoMorita 63:74a9565a0141 160 float hz = sqrt(magned(3,1)*magned(3,1));
NaotoMorita 62:5519d34eb6e8 161 float a = sqrt(magm(1,1)*magm(1,1)+magm(2,1)*magm(2,1)+magm(3,1)*magm(3,1));
NaotoMorita 61:5e5c4fe12440 162
NaotoMorita 59:03fe5e16a33c 163 for(int j = 1; j < 4; j++){
NaotoMorita 61:5e5c4fe12440 164 H(1,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx;
NaotoMorita 61:5e5c4fe12440 165 H(2,j+6) = rotmag(2,j);
NaotoMorita 63:74a9565a0141 166 H(3,j+6) = rotmag(3,j)-(rotmag(3,j))/hz;
NaotoMorita 63:74a9565a0141 167 H(1,j+16) = -dcm(1,j)-(dcm(1,j)+dcm(2,j))/hx;
NaotoMorita 62:5519d34eb6e8 168 H(2,j+16) = -dcm(2,j);
NaotoMorita 63:74a9565a0141 169 H(3,j+16) = -dcm(3,j)-(dcm(3,j))/hz;
NaotoMorita 63:74a9565a0141 170 }
NaotoMorita 63:74a9565a0141 171 //H(4,20) = 1.0f;
NaotoMorita 63:74a9565a0141 172 //H(4,17) = magm(1,1)/a;
NaotoMorita 63:74a9565a0141 173 //H(4,18) = magm(2,1)/a;
NaotoMorita 63:74a9565a0141 174 //H(4,19) = magm(3,1)/a;
NaotoMorita 63:74a9565a0141 175
NaotoMorita 63:74a9565a0141 176 Matrix z(nH,1);
NaotoMorita 63:74a9565a0141 177 z << -(magned(1,1) - hx) << -magned(2,1)<<-(magned(3,1) - hz);
NaotoMorita 63:74a9565a0141 178 //twelite.printf("%f %f %f %f\r\n",-(magned(1,1) - hx),-magned(2,1),-(magned(3,1) - hz),-(magRadius-a));
NaotoMorita 63:74a9565a0141 179 //Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 63:74a9565a0141 180
NaotoMorita 63:74a9565a0141 181 Matrix r3(3,1);
NaotoMorita 63:74a9565a0141 182 r3 << tdcm(1,3)<< tdcm(2,3) << tdcm(3,3);
NaotoMorita 63:74a9565a0141 183 Matrix kpart = r3*MatrixMath::Transpose(r3);
NaotoMorita 63:74a9565a0141 184 Matrix Pm(nState,nState);
NaotoMorita 63:74a9565a0141 185 for(int i = 7; i<10; i++){
NaotoMorita 63:74a9565a0141 186 for(int j = 7;j<10;j++){
NaotoMorita 63:74a9565a0141 187 Pm(i,j) = Phat(i,j);
NaotoMorita 63:74a9565a0141 188 }
NaotoMorita 59:03fe5e16a33c 189 }
NaotoMorita 63:74a9565a0141 190 for(int i = 17; i<nState+1; i++){
NaotoMorita 63:74a9565a0141 191 for(int j = 17;j<nState+1;j++){
NaotoMorita 63:74a9565a0141 192 Pm(i,j) = Phat(i,j);
NaotoMorita 63:74a9565a0141 193 }
NaotoMorita 63:74a9565a0141 194 }
NaotoMorita 61:5e5c4fe12440 195
NaotoMorita 63:74a9565a0141 196 Matrix K = (Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+R);
NaotoMorita 63:74a9565a0141 197 Matrix Kmod(3,nH);
NaotoMorita 63:74a9565a0141 198 for(int i = 1; i<4; i++){
NaotoMorita 63:74a9565a0141 199 for(int j = 1;j<nH+1;j++){
NaotoMorita 63:74a9565a0141 200 Kmod(i,j) = K(i+6,j);
NaotoMorita 63:74a9565a0141 201 }
NaotoMorita 63:74a9565a0141 202 }
NaotoMorita 63:74a9565a0141 203 Kmod = kpart*Kmod;
NaotoMorita 63:74a9565a0141 204 for(int i = 1; i<nState+1; i++){
NaotoMorita 63:74a9565a0141 205 for(int j = 1;j<nH;j++){
NaotoMorita 63:74a9565a0141 206 if(i>6 && i<10){
NaotoMorita 63:74a9565a0141 207 K(i,j) = Kmod(i-6,j);
NaotoMorita 63:74a9565a0141 208 }else if(i<17){
NaotoMorita 63:74a9565a0141 209 K(i,j) = 0.0f;
NaotoMorita 63:74a9565a0141 210 }
NaotoMorita 63:74a9565a0141 211 }
NaotoMorita 63:74a9565a0141 212 }
NaotoMorita 63:74a9565a0141 213
NaotoMorita 46:15988dc41923 214 errState = K * z;
NaotoMorita 50:dadad0567349 215 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 58:93ba28cf5cb3 216
NaotoMorita 58:93ba28cf5cb3 217 fuseErr2Nominal();
NaotoMorita 58:93ba28cf5cb3 218 }
NaotoMorita 58:93ba28cf5cb3 219
NaotoMorita 58:93ba28cf5cb3 220
NaotoMorita 59:03fe5e16a33c 221 void solaESKF::updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R)
NaotoMorita 58:93ba28cf5cb3 222 {
NaotoMorita 59:03fe5e16a33c 223 Matrix H(5,nState);
NaotoMorita 46:15988dc41923 224 H(1,1) = 1.0f;
NaotoMorita 46:15988dc41923 225 H(2,2) = 1.0f;
NaotoMorita 56:c10f1168bd4a 226 H(3,3) = 1.0f;
NaotoMorita 56:c10f1168bd4a 227 H(4,4) = 1.0f;
NaotoMorita 56:c10f1168bd4a 228 H(5,5) = 1.0f;
NaotoMorita 53:8b551358a7e3 229 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 230 Matrix z(5,1);
NaotoMorita 59:03fe5e16a33c 231 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 232 errState = K * z;
NaotoMorita 58:93ba28cf5cb3 233 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 58:93ba28cf5cb3 234 fuseErr2Nominal();
NaotoMorita 58:93ba28cf5cb3 235 }
NaotoMorita 58:93ba28cf5cb3 236
NaotoMorita 46:15988dc41923 237
NaotoMorita 44:7d82e63b6a86 238 Matrix solaESKF::computeAngles()
NaotoMorita 25:07ac5c6cd61c 239 {
NaotoMorita 25:07ac5c6cd61c 240
NaotoMorita 44:7d82e63b6a86 241 Matrix euler(3,1);
NaotoMorita 44:7d82e63b6a86 242 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 243 euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1)));
NaotoMorita 44:7d82e63b6a86 244 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 245 return euler;
NaotoMorita 19:3fae66745363 246 }
NaotoMorita 19:3fae66745363 247
NaotoMorita 21:d6079def0473 248
NaotoMorita 44:7d82e63b6a86 249 void solaESKF::fuseErr2Nominal()
NaotoMorita 19:3fae66745363 250 {
NaotoMorita 44:7d82e63b6a86 251 //position
NaotoMorita 44:7d82e63b6a86 252 pihat(1,1) += errState(1,1);
NaotoMorita 44:7d82e63b6a86 253 pihat(2,1) += errState(2,1);
NaotoMorita 44:7d82e63b6a86 254 pihat(3,1) += errState(3,1);
NaotoMorita 44:7d82e63b6a86 255
NaotoMorita 44:7d82e63b6a86 256 //velocity
NaotoMorita 44:7d82e63b6a86 257 vihat(1,1) += errState(4,1);
NaotoMorita 44:7d82e63b6a86 258 vihat(2,1) += errState(5,1);
NaotoMorita 44:7d82e63b6a86 259 vihat(3,1) += errState(6,1);
NaotoMorita 44:7d82e63b6a86 260
NaotoMorita 44:7d82e63b6a86 261 //angle error
NaotoMorita 19:3fae66745363 262 Matrix qerr(4,1);
NaotoMorita 46:15988dc41923 263 qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1);
NaotoMorita 19:3fae66745363 264 qhat = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 265 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 266 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 267
NaotoMorita 44:7d82e63b6a86 268 //acc bias
NaotoMorita 44:7d82e63b6a86 269 accBias(1,1) += errState(10,1);
NaotoMorita 44:7d82e63b6a86 270 accBias(2,1) += errState(11,1);
NaotoMorita 44:7d82e63b6a86 271 accBias(3,1) += errState(12,1);
NaotoMorita 44:7d82e63b6a86 272
NaotoMorita 44:7d82e63b6a86 273 //gyro bias
NaotoMorita 44:7d82e63b6a86 274 gyroBias(1,1) += errState(13,1);
NaotoMorita 44:7d82e63b6a86 275 gyroBias(2,1) += errState(14,1);
NaotoMorita 44:7d82e63b6a86 276 gyroBias(3,1) += errState(15,1);
NaotoMorita 44:7d82e63b6a86 277
NaotoMorita 44:7d82e63b6a86 278 //gravity bias
NaotoMorita 59:03fe5e16a33c 279 gravity(1,1) = 0.0f;
NaotoMorita 59:03fe5e16a33c 280 gravity(2,1) = 0.0f;
NaotoMorita 59:03fe5e16a33c 281 gravity(3,1) += errState(16,1);
NaotoMorita 47:2467de40951f 282
NaotoMorita 62:5519d34eb6e8 283 //Magnetic bias
NaotoMorita 62:5519d34eb6e8 284 magBias(1,1) += errState(17,1);
NaotoMorita 62:5519d34eb6e8 285 magBias(2,1) += errState(18,1);
NaotoMorita 62:5519d34eb6e8 286 magBias(3,1) += errState(19,1);
NaotoMorita 62:5519d34eb6e8 287 magRadius += errState(20,1);
NaotoMorita 62:5519d34eb6e8 288
NaotoMorita 56:c10f1168bd4a 289
NaotoMorita 58:93ba28cf5cb3 290 for (int i = 1; i < nState+1; i++){
NaotoMorita 47:2467de40951f 291 errState(i,1) = 0.0f;
NaotoMorita 47:2467de40951f 292 }
NaotoMorita 44:7d82e63b6a86 293
NaotoMorita 19:3fae66745363 294 }
NaotoMorita 19:3fae66745363 295
NaotoMorita 44:7d82e63b6a86 296 Matrix solaESKF::quatmultiply(Matrix p, Matrix q)
NaotoMorita 19:3fae66745363 297 {
NaotoMorita 44:7d82e63b6a86 298
NaotoMorita 19:3fae66745363 299 Matrix qout(4,1);
NaotoMorita 44:7d82e63b6a86 300 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 301 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 302 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 303 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 304 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout));
NaotoMorita 19:3fae66745363 305 qout *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 306 return qout;
NaotoMorita 19:3fae66745363 307 }
NaotoMorita 19:3fae66745363 308
NaotoMorita 44:7d82e63b6a86 309 void solaESKF::computeDcm(Matrix& dcm, Matrix quat)
NaotoMorita 19:3fae66745363 310 {
NaotoMorita 19:3fae66745363 311
NaotoMorita 44:7d82e63b6a86 312 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 313 dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1));
NaotoMorita 44:7d82e63b6a86 314 dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1));
NaotoMorita 44:7d82e63b6a86 315 dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1));
NaotoMorita 44:7d82e63b6a86 316 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 317 dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1));
NaotoMorita 44:7d82e63b6a86 318 dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1));
NaotoMorita 44:7d82e63b6a86 319 dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1));
NaotoMorita 44:7d82e63b6a86 320 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 321
NaotoMorita 19:3fae66745363 322 }
NaotoMorita 19:3fae66745363 323
NaotoMorita 44:7d82e63b6a86 324 void solaESKF::setQhat(float ex,float ey,float ez)
NaotoMorita 44:7d82e63b6a86 325 {
NaotoMorita 44:7d82e63b6a86 326 float cos_z_2 = cosf(0.5f*ez);
NaotoMorita 44:7d82e63b6a86 327 float cos_y_2 = cosf(0.5f*ey);
NaotoMorita 44:7d82e63b6a86 328 float cos_x_2 = cosf(0.5f*ex);
NaotoMorita 19:3fae66745363 329
NaotoMorita 44:7d82e63b6a86 330 float sin_z_2 = sinf(0.5f*ez);
NaotoMorita 44:7d82e63b6a86 331 float sin_y_2 = sinf(0.5f*ey);
NaotoMorita 44:7d82e63b6a86 332 float sin_x_2 = sinf(0.5f*ex);
NaotoMorita 19:3fae66745363 333
NaotoMorita 19:3fae66745363 334 // and now compute quaternion
NaotoMorita 19:3fae66745363 335 qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 336 qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2;
NaotoMorita 19:3fae66745363 337 qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 338 qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 339 }
NaotoMorita 19:3fae66745363 340
NaotoMorita 47:2467de40951f 341
NaotoMorita 47:2467de40951f 342
NaotoMorita 44:7d82e63b6a86 343 void solaESKF::setGravity(float gx,float gy,float gz)
NaotoMorita 23:1509648c2318 344 {
NaotoMorita 44:7d82e63b6a86 345 gravity(1,1) = gx;
NaotoMorita 44:7d82e63b6a86 346 gravity(2,1) = gy;
NaotoMorita 44:7d82e63b6a86 347 gravity(3,1) = gz;
NaotoMorita 23:1509648c2318 348 }
NaotoMorita 62:5519d34eb6e8 349
NaotoMorita 47:2467de40951f 350 Matrix solaESKF::getPihat()
NaotoMorita 47:2467de40951f 351 {
NaotoMorita 47:2467de40951f 352 return pihat;
NaotoMorita 47:2467de40951f 353 }
NaotoMorita 47:2467de40951f 354 Matrix solaESKF::getVihat()
NaotoMorita 47:2467de40951f 355 {
NaotoMorita 47:2467de40951f 356 return vihat;
NaotoMorita 47:2467de40951f 357 }
NaotoMorita 47:2467de40951f 358 Matrix solaESKF::getQhat()
NaotoMorita 47:2467de40951f 359 {
NaotoMorita 47:2467de40951f 360 return qhat;
NaotoMorita 47:2467de40951f 361 }
NaotoMorita 47:2467de40951f 362 Matrix solaESKF::getAccBias()
NaotoMorita 47:2467de40951f 363 {
NaotoMorita 47:2467de40951f 364 return accBias;
NaotoMorita 47:2467de40951f 365 }
NaotoMorita 47:2467de40951f 366 Matrix solaESKF::getGyroBias()
NaotoMorita 47:2467de40951f 367 {
NaotoMorita 47:2467de40951f 368 return gyroBias;
NaotoMorita 47:2467de40951f 369 }
NaotoMorita 47:2467de40951f 370 Matrix solaESKF::getGravity()
NaotoMorita 47:2467de40951f 371 {
NaotoMorita 47:2467de40951f 372 return gravity;
NaotoMorita 47:2467de40951f 373 }
NaotoMorita 62:5519d34eb6e8 374 Matrix solaESKF::getMagBias()
NaotoMorita 62:5519d34eb6e8 375 {
NaotoMorita 62:5519d34eb6e8 376 return magBias;
NaotoMorita 62:5519d34eb6e8 377 }
NaotoMorita 62:5519d34eb6e8 378 float solaESKF::getMagRadius()
NaotoMorita 62:5519d34eb6e8 379 {
NaotoMorita 62:5519d34eb6e8 380 return magRadius;
NaotoMorita 62:5519d34eb6e8 381 }
NaotoMorita 47:2467de40951f 382 Matrix solaESKF::getErrState()
NaotoMorita 47:2467de40951f 383 {
NaotoMorita 47:2467de40951f 384 return errState;
NaotoMorita 47:2467de40951f 385 }
NaotoMorita 23:1509648c2318 386
NaotoMorita 47:2467de40951f 387 void solaESKF::setPhatPosition(float val)
NaotoMorita 47:2467de40951f 388 {
NaotoMorita 47:2467de40951f 389 setBlockDiag(Phat,val,1,3);
NaotoMorita 47:2467de40951f 390 }
NaotoMorita 47:2467de40951f 391 void solaESKF::setPhatVelocity(float val)
NaotoMorita 47:2467de40951f 392 {
NaotoMorita 47:2467de40951f 393 setBlockDiag(Phat,val,4,6);
NaotoMorita 47:2467de40951f 394 }
NaotoMorita 47:2467de40951f 395 void solaESKF::setPhatAngleError(float val)
NaotoMorita 47:2467de40951f 396 {
NaotoMorita 47:2467de40951f 397 setBlockDiag(Phat,val,7,9);
NaotoMorita 47:2467de40951f 398 }
NaotoMorita 47:2467de40951f 399 void solaESKF::setPhatAccBias(float val)
NaotoMorita 47:2467de40951f 400 {
NaotoMorita 47:2467de40951f 401 setBlockDiag(Phat,val,10,12);
NaotoMorita 47:2467de40951f 402 }
NaotoMorita 47:2467de40951f 403 void solaESKF::setPhatGyroBias(float val)
NaotoMorita 47:2467de40951f 404 {
NaotoMorita 47:2467de40951f 405 setBlockDiag(Phat,val,13,15);
NaotoMorita 47:2467de40951f 406 }
NaotoMorita 47:2467de40951f 407 void solaESKF::setPhatGravity(float val)
NaotoMorita 47:2467de40951f 408 {
NaotoMorita 59:03fe5e16a33c 409 setBlockDiag(Phat,val,16,16);
NaotoMorita 47:2467de40951f 410 }
NaotoMorita 62:5519d34eb6e8 411 void solaESKF::setPhatMagBias(float val)
NaotoMorita 62:5519d34eb6e8 412 {
NaotoMorita 62:5519d34eb6e8 413 setBlockDiag(Phat,val,17,19);
NaotoMorita 62:5519d34eb6e8 414 }
NaotoMorita 62:5519d34eb6e8 415 void solaESKF::setPhatMagRadius(float val)
NaotoMorita 62:5519d34eb6e8 416 {
NaotoMorita 62:5519d34eb6e8 417 setBlockDiag(Phat,val,20,20);
NaotoMorita 62:5519d34eb6e8 418 }
NaotoMorita 47:2467de40951f 419
NaotoMorita 47:2467de40951f 420
NaotoMorita 47:2467de40951f 421 void solaESKF::setQVelocity(float val)
NaotoMorita 47:2467de40951f 422 {
NaotoMorita 47:2467de40951f 423 setBlockDiag(Q,val,4,6);
NaotoMorita 47:2467de40951f 424 }
NaotoMorita 47:2467de40951f 425 void solaESKF::setQAngleError(float val)
NaotoMorita 47:2467de40951f 426 {
NaotoMorita 47:2467de40951f 427 setBlockDiag(Q,val,7,9);
NaotoMorita 47:2467de40951f 428 }
NaotoMorita 47:2467de40951f 429 void solaESKF::setQAccBias(float val)
NaotoMorita 47:2467de40951f 430 {
NaotoMorita 47:2467de40951f 431 setBlockDiag(Q,val,10,12);
NaotoMorita 47:2467de40951f 432 }
NaotoMorita 47:2467de40951f 433 void solaESKF::setQGyroBias(float val)
NaotoMorita 47:2467de40951f 434 {
NaotoMorita 47:2467de40951f 435 setBlockDiag(Q,val,13,15);
NaotoMorita 47:2467de40951f 436 }
NaotoMorita 62:5519d34eb6e8 437 void solaESKF::setQMagBias(float val)
NaotoMorita 62:5519d34eb6e8 438 {
NaotoMorita 62:5519d34eb6e8 439 setBlockDiag(Q,val,17,19);
NaotoMorita 62:5519d34eb6e8 440 }
NaotoMorita 62:5519d34eb6e8 441 void solaESKF::setQMagRadius(float val)
NaotoMorita 62:5519d34eb6e8 442 {
NaotoMorita 62:5519d34eb6e8 443 setBlockDiag(Q,val,20,20);
NaotoMorita 62:5519d34eb6e8 444 }
NaotoMorita 19:3fae66745363 445
NaotoMorita 19:3fae66745363 446
NaotoMorita 44:7d82e63b6a86 447 void solaESKF::setDiag(Matrix& mat, float val){
NaotoMorita 44:7d82e63b6a86 448 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 44:7d82e63b6a86 449 mat(i,i) = val;
NaotoMorita 22:7d84b8bc20b4 450 }
NaotoMorita 22:7d84b8bc20b4 451 }
NaotoMorita 22:7d84b8bc20b4 452
NaotoMorita 45:df4618814803 453 void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){
NaotoMorita 44:7d82e63b6a86 454 for (int i = startIndex; i < endIndex+1; i++){
NaotoMorita 44:7d82e63b6a86 455 mat(i,i) = val;
NaotoMorita 22:7d84b8bc20b4 456 }
NaotoMorita 22:7d84b8bc20b4 457 }
osaka 51:a5af3b280d23 458
NaotoMorita 58:93ba28cf5cb3 459 void solaESKF::setPihat(float pi_x, float pi_y)
osaka 51:a5af3b280d23 460 {
NaotoMorita 56:c10f1168bd4a 461 pihat(1,1) = pi_x;
NaotoMorita 56:c10f1168bd4a 462 pihat(2,1) = pi_y;
NaotoMorita 58:93ba28cf5cb3 463 //pihat(3,1) = pi_z;
NaotoMorita 56:c10f1168bd4a 464 }
NaotoMorita 56:c10f1168bd4a 465 /*
NaotoMorita 56:c10f1168bd4a 466 void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R)
NaotoMorita 56:c10f1168bd4a 467 {
NaotoMorita 56:c10f1168bd4a 468 Matrix accm = acc - accBias;
NaotoMorita 56:c10f1168bd4a 469 Matrix tdcm(3,3);
NaotoMorita 56:c10f1168bd4a 470 computeDcm(tdcm, qhat);
NaotoMorita 56:c10f1168bd4a 471 tdcm = MatrixMath::Transpose(tdcm);
NaotoMorita 56:c10f1168bd4a 472 Matrix tdcm_g = tdcm*gravity;
NaotoMorita 56:c10f1168bd4a 473 Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1));
NaotoMorita 56:c10f1168bd4a 474
NaotoMorita 56:c10f1168bd4a 475 Matrix H(4,nState);
NaotoMorita 56:c10f1168bd4a 476 for (int i = 1; i < 4; i++){
NaotoMorita 56:c10f1168bd4a 477 for (int j = 1; j < 4; j++){
NaotoMorita 56:c10f1168bd4a 478 H(i,j+6) = a2v(i,j);
NaotoMorita 56:c10f1168bd4a 479 H(i,j+15) = tdcm(i,j);
NaotoMorita 56:c10f1168bd4a 480 }
NaotoMorita 56:c10f1168bd4a 481 }
NaotoMorita 56:c10f1168bd4a 482 H(1,10) = -1.0f;
NaotoMorita 56:c10f1168bd4a 483 H(2,11) = -1.0f;
NaotoMorita 56:c10f1168bd4a 484 H(3,12) = -1.0f;
NaotoMorita 56:c10f1168bd4a 485 H(4,3) = 1.0f;
NaotoMorita 56:c10f1168bd4a 486
NaotoMorita 56:c10f1168bd4a 487 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 56:c10f1168bd4a 488 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 56:c10f1168bd4a 489 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 56:c10f1168bd4a 490 Matrix zacc = -accm-tdcm*gravity;
NaotoMorita 56:c10f1168bd4a 491 Matrix z(4,1);
NaotoMorita 56:c10f1168bd4a 492 z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1);
NaotoMorita 56:c10f1168bd4a 493 errState = K * z;
NaotoMorita 56:c10f1168bd4a 494 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 56:c10f1168bd4a 495 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 496 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 497 fuseErr2Nominal();
NaotoMorita 56:c10f1168bd4a 498 }
NaotoMorita 56:c10f1168bd4a 499
NaotoMorita 56:c10f1168bd4a 500 void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R)
NaotoMorita 56:c10f1168bd4a 501 {
NaotoMorita 56:c10f1168bd4a 502 Matrix gyrom = gyro - gyroBias;
NaotoMorita 56:c10f1168bd4a 503 Matrix dcm(3,3);
NaotoMorita 56:c10f1168bd4a 504 computeDcm(dcm, qhat);
NaotoMorita 56:c10f1168bd4a 505 Matrix a2v = dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1));
NaotoMorita 56:c10f1168bd4a 506
NaotoMorita 56:c10f1168bd4a 507 Matrix H(2,nState);
NaotoMorita 56:c10f1168bd4a 508 for (int i = 1; i < 3; i++){
NaotoMorita 56:c10f1168bd4a 509 for (int j = 1; j < 4; j++){
NaotoMorita 56:c10f1168bd4a 510 H(i,j+6) = a2v(i,j);
NaotoMorita 56:c10f1168bd4a 511 H(i,j+12) = -dcm(i,j);
NaotoMorita 56:c10f1168bd4a 512 }
NaotoMorita 56:c10f1168bd4a 513 }
NaotoMorita 56:c10f1168bd4a 514 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 56:c10f1168bd4a 515 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A));
NaotoMorita 56:c10f1168bd4a 516 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 56:c10f1168bd4a 517
NaotoMorita 56:c10f1168bd4a 518 Matrix z3 = -dcm*gyrom;
NaotoMorita 56:c10f1168bd4a 519 Matrix z(2,1);
NaotoMorita 56:c10f1168bd4a 520 z << z3(1,1) << z3(2,1);
NaotoMorita 56:c10f1168bd4a 521 errState = K * z;
NaotoMorita 56:c10f1168bd4a 522 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 56:c10f1168bd4a 523 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 524 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 525 fuseErr2Nominal();
NaotoMorita 56:c10f1168bd4a 526 }
NaotoMorita 56:c10f1168bd4a 527 void solaESKF::updateMag(Matrix mag, Matrix R)
NaotoMorita 56:c10f1168bd4a 528 {
NaotoMorita 56:c10f1168bd4a 529 Matrix dcm(3,3);
NaotoMorita 56:c10f1168bd4a 530 computeDcm(dcm, qhat);
NaotoMorita 56:c10f1168bd4a 531 Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1));
NaotoMorita 56:c10f1168bd4a 532
NaotoMorita 56:c10f1168bd4a 533 Matrix H(2,nState);
NaotoMorita 56:c10f1168bd4a 534 for (int i = 1; i < 3; i++){
NaotoMorita 56:c10f1168bd4a 535 for (int j = 1; j < 4; j++){
NaotoMorita 56:c10f1168bd4a 536 H(i,j+6) = a2v(i,j);
NaotoMorita 56:c10f1168bd4a 537 }
NaotoMorita 56:c10f1168bd4a 538 }
NaotoMorita 56:c10f1168bd4a 539 H(1,19) = 1.0f;
NaotoMorita 56:c10f1168bd4a 540 //H(3,20) = 1.0f;
NaotoMorita 56:c10f1168bd4a 541
NaotoMorita 56:c10f1168bd4a 542 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 56:c10f1168bd4a 543 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 56:c10f1168bd4a 544 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 56:c10f1168bd4a 545 Matrix zmag = -dcm*mag-magField;
NaotoMorita 56:c10f1168bd4a 546 Matrix z(2,1);
NaotoMorita 56:c10f1168bd4a 547 z << zmag(1,1) << zmag(2,1);
NaotoMorita 56:c10f1168bd4a 548 errState = K * z;
NaotoMorita 56:c10f1168bd4a 549 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 56:c10f1168bd4a 550 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 551 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 56:c10f1168bd4a 552 fuseErr2Nominal();
NaotoMorita 56:c10f1168bd4a 553 }
NaotoMorita 59:03fe5e16a33c 554 void solaESKF::updateMag(Matrix mag,float palt, Matrix R)
NaotoMorita 59:03fe5e16a33c 555 {
NaotoMorita 59:03fe5e16a33c 556 Matrix dcm(3,3);
NaotoMorita 59:03fe5e16a33c 557 computeDcm(dcm, qhat);
NaotoMorita 59:03fe5e16a33c 558 Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1));
NaotoMorita 59:03fe5e16a33c 559
NaotoMorita 59:03fe5e16a33c 560 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 561 for (int i = 1; i < 3; i++){
NaotoMorita 59:03fe5e16a33c 562 for (int j = 1; j < 4; j++){
NaotoMorita 59:03fe5e16a33c 563 H(i,j+6) = a2v(i,j);
NaotoMorita 59:03fe5e16a33c 564 }
NaotoMorita 59:03fe5e16a33c 565 }
NaotoMorita 59:03fe5e16a33c 566 H(1,19) = 1.0f;
NaotoMorita 59:03fe5e16a33c 567 H(3,3) = 1.0f;
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+10.0f*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 zmag = -dcm*mag-magField;
NaotoMorita 59:03fe5e16a33c 572 Matrix z(3,1);
NaotoMorita 59:03fe5e16a33c 573 z << zmag(1,1) << zmag(2,1) << palt - pihat(3,1);
NaotoMorita 59:03fe5e16a33c 574 errState = K * z;
NaotoMorita 59:03fe5e16a33c 575 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 59:03fe5e16a33c 576 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 577 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 578
NaotoMorita 59:03fe5e16a33c 579 fuseErr2Nominal();
NaotoMorita 59:03fe5e16a33c 580 }
NaotoMorita 59:03fe5e16a33c 581 void solaESKF::updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R)
NaotoMorita 59:03fe5e16a33c 582 {
NaotoMorita 59:03fe5e16a33c 583
NaotoMorita 59:03fe5e16a33c 584 Matrix dcm(3,3);
NaotoMorita 59:03fe5e16a33c 585 computeDcm(dcm, qhat);
NaotoMorita 59:03fe5e16a33c 586 Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1));
NaotoMorita 59:03fe5e16a33c 587
NaotoMorita 59:03fe5e16a33c 588
NaotoMorita 59:03fe5e16a33c 589 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 590 H(1,4) = 1.0f;
NaotoMorita 59:03fe5e16a33c 591 H(2,5) = 1.0f;
NaotoMorita 59:03fe5e16a33c 592
NaotoMorita 59:03fe5e16a33c 593 for (int j = 1; j < 4; j++){
NaotoMorita 59:03fe5e16a33c 594 H(3,j+6) = a2v(2,j);
NaotoMorita 59:03fe5e16a33c 595 }
NaotoMorita 59:03fe5e16a33c 596 //H(3,19) = 1.0f;
NaotoMorita 59:03fe5e16a33c 597
NaotoMorita 59:03fe5e16a33c 598 Matrix zmag = -dcm*mag-magField;
NaotoMorita 59:03fe5e16a33c 599
NaotoMorita 59:03fe5e16a33c 600 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 59:03fe5e16a33c 601 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 59:03fe5e16a33c 602 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 603 Matrix z(3,1);
NaotoMorita 59:03fe5e16a33c 604 z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << zmag(2,1);
NaotoMorita 59:03fe5e16a33c 605 errState = K * z;
NaotoMorita 59:03fe5e16a33c 606 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 59:03fe5e16a33c 607 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 608 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 609 fuseErr2Nominal();
NaotoMorita 59:03fe5e16a33c 610 }
NaotoMorita 56:c10f1168bd4a 611
NaotoMorita 59:03fe5e16a33c 612 void solaESKF::updateGPSPosition(Matrix posgps,float palt,Matrix R)
NaotoMorita 59:03fe5e16a33c 613 {
NaotoMorita 59:03fe5e16a33c 614 Matrix H(3,nState);
NaotoMorita 59:03fe5e16a33c 615 H(1,1) = 1.0f;
NaotoMorita 59:03fe5e16a33c 616 H(2,2) = 1.0f;
NaotoMorita 59:03fe5e16a33c 617 H(3,3) = 1.0f;
NaotoMorita 59:03fe5e16a33c 618
NaotoMorita 59:03fe5e16a33c 619 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 59:03fe5e16a33c 620 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 59:03fe5e16a33c 621 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 59:03fe5e16a33c 622 Matrix z(3,1);
NaotoMorita 59:03fe5e16a33c 623 z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1);
NaotoMorita 59:03fe5e16a33c 624 errState = K * z;
NaotoMorita 59:03fe5e16a33c 625 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 59:03fe5e16a33c 626 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 627 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 59:03fe5e16a33c 628 fuseErr2Nominal();
NaotoMorita 59:03fe5e16a33c 629 }
NaotoMorita 61:5e5c4fe12440 630
NaotoMorita 61:5e5c4fe12440 631 void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R)
NaotoMorita 61:5e5c4fe12440 632 {
NaotoMorita 61:5e5c4fe12440 633 Matrix accm = acc - accBias;
NaotoMorita 61:5e5c4fe12440 634 Matrix magm = mag - magBias;
NaotoMorita 61:5e5c4fe12440 635 Matrix dcm(3,3);
NaotoMorita 61:5e5c4fe12440 636 computeDcm(dcm, qhat);
NaotoMorita 61:5e5c4fe12440 637 Matrix tdcm = MatrixMath::Transpose(dcm);
NaotoMorita 61:5e5c4fe12440 638 Matrix tdcm_g = tdcm*gravity;
NaotoMorita 61:5e5c4fe12440 639 Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1));
NaotoMorita 61:5e5c4fe12440 640 Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1));
NaotoMorita 61:5e5c4fe12440 641
NaotoMorita 61:5e5c4fe12440 642 Matrix H(5,nState);
NaotoMorita 61:5e5c4fe12440 643 for (int i = 1; i < 4; i++){
NaotoMorita 61:5e5c4fe12440 644 for (int j = 1; j < 4; j++){
NaotoMorita 61:5e5c4fe12440 645 H(i,j+6) = rotgrav(i,j);
NaotoMorita 61:5e5c4fe12440 646 }
NaotoMorita 61:5e5c4fe12440 647 H(i,16) = tdcm(i,3);
NaotoMorita 61:5e5c4fe12440 648 }
NaotoMorita 61:5e5c4fe12440 649
NaotoMorita 61:5e5c4fe12440 650 H(1,10) = -1.0f;
NaotoMorita 61:5e5c4fe12440 651 H(2,11) = -1.0f;
NaotoMorita 61:5e5c4fe12440 652 H(3,12) = -1.0f;
NaotoMorita 61:5e5c4fe12440 653
NaotoMorita 61:5e5c4fe12440 654 Matrix magned = dcm*magm;
NaotoMorita 61:5e5c4fe12440 655 float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1));
NaotoMorita 61:5e5c4fe12440 656
NaotoMorita 61:5e5c4fe12440 657 for(int j = 1; j < 4; j++){
NaotoMorita 61:5e5c4fe12440 658 H(4,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx;
NaotoMorita 61:5e5c4fe12440 659 H(4,j+16) = -dcm(1,j)+(dcm(1,j)+dcm(2,j))/hx;
NaotoMorita 61:5e5c4fe12440 660 H(5,j+6) = rotmag(2,j);
NaotoMorita 61:5e5c4fe12440 661 H(5,j+16) = -dcm(2,j);
NaotoMorita 61:5e5c4fe12440 662 }
NaotoMorita 61:5e5c4fe12440 663
NaotoMorita 61:5e5c4fe12440 664 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 61:5e5c4fe12440 665 Matrix zacc = -accm-tdcm*gravity;
NaotoMorita 61:5e5c4fe12440 666 Matrix zmag = dcm*magm;
NaotoMorita 61:5e5c4fe12440 667 Matrix z(5,1);
NaotoMorita 61:5e5c4fe12440 668 z << zacc(1,1) << zacc(2,1) << zacc(3,1) << -(zmag(1,1) - hx) << -zmag(2,1);
NaotoMorita 61:5e5c4fe12440 669 twelite.printf("%f %f\r\n",hx,(zmag(1,1) - hx));
NaotoMorita 61:5e5c4fe12440 670 errState = K * z;
NaotoMorita 61:5e5c4fe12440 671 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 61:5e5c4fe12440 672
NaotoMorita 61:5e5c4fe12440 673 fuseErr2Nominal();
NaotoMorita 61:5e5c4fe12440 674 }
NaotoMorita 56:c10f1168bd4a 675 */