HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

ScErrStateEKF.cpp@36:b1d107b00351, 2021-09-29 (annotated)

Committer:
NaotoMorita
Date:
Wed Sep 29 13:15:33 2021 +0000
Revision:
36:b1d107b00351
Parent:
32:321a756e12ad 
12state

Who changed what in which revision?

UserRevisionLine numberNew 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 36:b1d107b00351 11 :qhat(4,1),vihat(3,1), errState(12,1), Phat(12,12), Q(12,12), Ra(3,3), Rgps(3,3),Rsr(1,1), Rm(3,3), Qab(3,3),Rgsc(2,2),Rvsc(2,2),accBias(0.0f,0.0f,0.0f),gyroBias(0.0f,0.0f,0.0f)
NaotoMorita 19:3fae66745363 12 {
NaotoMorita 21:d6079def0473 13 nState = errState.getRows();
NaotoMorita 19:3fae66745363 14 qhat << 1.0f << 0.0f << 0.0f << 0.0f;
NaotoMorita 19:3fae66745363 15
NaotoMorita 21:d6079def0473 16 setDiag(Phat,0.1f);
NaotoMorita 21:d6079def0473 17 setQqerr(0.000005f);
NaotoMorita 32:321a756e12ad 18 setQgbias(0.001f);
NaotoMorita 31:e655d4d8e4d6 19 setQabias(0.00001f);
NaotoMorita 32:321a756e12ad 20 setQv(0.0001f);
NaotoMorita 19:3fae66745363 21
NaotoMorita 20:37d3c3ee36e9 22 //加速度の観測
NaotoMorita 23:1509648c2318 23 setDiag(Ra,0.005f);
NaotoMorita 32:321a756e12ad 24 setDiag(Qab,10.0f);
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 setDiag(Rm,5.0f);
NaotoMorita 19:3fae66745363 30
NaotoMorita 31:e655d4d8e4d6 31 setDiag(Rgps,5.5f);
NaotoMorita 31:e655d4d8e4d6 32 setDiag(Rsr,5.5f);
NaotoMorita 26:73c3f58b9d70 33
NaotoMorita 19:3fae66745363 34 for(int i = 0; i<10;i++){
NaotoMorita 19:3fae66745363 35 histffunc[i] = 0.0f;
NaotoMorita 19:3fae66745363 36 }
NaotoMorita 19:3fae66745363 37 histffuncindex = 0 ;
NaotoMorita 19:3fae66745363 38 sigma2a = 0.000020f;
NaotoMorita 19:3fae66745363 39
NaotoMorita 19:3fae66745363 40
NaotoMorita 19:3fae66745363 41 }
NaotoMorita 19:3fae66745363 42
NaotoMorita 23:1509648c2318 43 void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt)
NaotoMorita 19:3fae66745363 44 {
NaotoMorita 19:3fae66745363 45 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 46 acc -= accBias;
NaotoMorita 19:3fae66745363 47 Matrix A(4,4);
NaotoMorita 19:3fae66745363 48 A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z
NaotoMorita 19:3fae66745363 49 << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y
NaotoMorita 19:3fae66745363 50 << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x
NaotoMorita 19:3fae66745363 51 << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ;
NaotoMorita 19:3fae66745363 52
NaotoMorita 20:37d3c3ee36e9 53 Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 19:3fae66745363 54 qhat = phi * qhat;
NaotoMorita 19:3fae66745363 55 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 56 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 57
NaotoMorita 23:1509648c2318 58 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 59 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 60 vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f;
NaotoMorita 19:3fae66745363 61 }
NaotoMorita 19:3fae66745363 62
NaotoMorita 23:1509648c2318 63 void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt)
NaotoMorita 23:1509648c2318 64 {
NaotoMorita 23:1509648c2318 65 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 66 acc -= accBias;
NaotoMorita 23:1509648c2318 67 Matrix A(nState,nState);
NaotoMorita 23:1509648c2318 68 A(1,2) = gyro.z;
NaotoMorita 23:1509648c2318 69 A(1,3) = -gyro.y;
NaotoMorita 23:1509648c2318 70 A(2,1) = -gyro.z;
NaotoMorita 23:1509648c2318 71 A(2,3) = gyro.x;
NaotoMorita 23:1509648c2318 72 A(3,1) = gyro.y;
NaotoMorita 23:1509648c2318 73 A(3,2) = -gyro.x;
NaotoMorita 23:1509648c2318 74
NaotoMorita 23:1509648c2318 75 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 76 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 77 Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z);
NaotoMorita 23:1509648c2318 78 Matrix baterm = -9.8f*MatrixMath::Transpose(dcm);
NaotoMorita 23:1509648c2318 79 for (int i = 1; i < 4; i++){
NaotoMorita 23:1509648c2318 80 for (int j = 1; i < 4; i++){
NaotoMorita 36:b1d107b00351 81 A(i+9,j) = qeterm(i,j);
NaotoMorita 36:b1d107b00351 82 A(i+9,j+6) = baterm(i,j);
NaotoMorita 23:1509648c2318 83 }
NaotoMorita 23:1509648c2318 84 }
NaotoMorita 23:1509648c2318 85
NaotoMorita 23:1509648c2318 86 Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 23:1509648c2318 87 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 88 errState = phi * errState;
NaotoMorita 23:1509648c2318 89 Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd;
NaotoMorita 23:1509648c2318 90 }
NaotoMorita 20:37d3c3ee36e9 91 void ScErrStateEKF::setQqerr(float val){
NaotoMorita 20:37d3c3ee36e9 92 Q(1,1) = val;
NaotoMorita 20:37d3c3ee36e9 93 Q(2,2) = val;
NaotoMorita 20:37d3c3ee36e9 94 Q(3,3) = val;
NaotoMorita 20:37d3c3ee36e9 95 }
NaotoMorita 20:37d3c3ee36e9 96
NaotoMorita 20:37d3c3ee36e9 97 void ScErrStateEKF::setQgbias(float val){
NaotoMorita 20:37d3c3ee36e9 98 Q(4,4) = val;
NaotoMorita 20:37d3c3ee36e9 99 Q(5,5) = val;
NaotoMorita 20:37d3c3ee36e9 100 Q(6,6) = val;
NaotoMorita 20:37d3c3ee36e9 101 }
NaotoMorita 36:b1d107b00351 102 void ScErrStateEKF::setQabias(float val){
NaotoMorita 20:37d3c3ee36e9 103 Q(7,7) = val;
NaotoMorita 20:37d3c3ee36e9 104 Q(8,8) = val;
NaotoMorita 20:37d3c3ee36e9 105 Q(9,9) = val;
NaotoMorita 20:37d3c3ee36e9 106 }
NaotoMorita 36:b1d107b00351 107 void ScErrStateEKF::setQv(float val){
NaotoMorita 36:b1d107b00351 108 Q(10,10) = val;
NaotoMorita 36:b1d107b00351 109 Q(11,11) = val;
NaotoMorita 36:b1d107b00351 110 Q(12,12) = val;
NaotoMorita 36:b1d107b00351 111 }
NaotoMorita 21:d6079def0473 112
NaotoMorita 20:37d3c3ee36e9 113 void ScErrStateEKF::setQab(float val){
NaotoMorita 21:d6079def0473 114 setDiag(Qab,val);
NaotoMorita 20:37d3c3ee36e9 115 }
NaotoMorita 20:37d3c3ee36e9 116
NaotoMorita 23:1509648c2318 117
NaotoMorita 20:37d3c3ee36e9 118 void ScErrStateEKF::setRsoftconst(float Vgsc,float Vvsc){
NaotoMorita 21:d6079def0473 119 setDiag(Rgsc,Vgsc);
NaotoMorita 23:1509648c2318 120 setDiag(Rvsc,Vvsc);
NaotoMorita 20:37d3c3ee36e9 121 }
NaotoMorita 20:37d3c3ee36e9 122
NaotoMorita 21:d6079def0473 123 void ScErrStateEKF::setDiag(Matrix& mat, float val){
NaotoMorita 21:d6079def0473 124 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 21:d6079def0473 125 mat(i,i) = val;
NaotoMorita 21:d6079def0473 126 }
NaotoMorita 21:d6079def0473 127 }
NaotoMorita 20:37d3c3ee36e9 128
NaotoMorita 25:07ac5c6cd61c 129 void ScErrStateEKF::getQhat(float (&res)[4]){
NaotoMorita 25:07ac5c6cd61c 130 for (int i = 0; i < 4; i++){
NaotoMorita 25:07ac5c6cd61c 131 res[i] = qhat(i+1,1);
NaotoMorita 25:07ac5c6cd61c 132 }
NaotoMorita 25:07ac5c6cd61c 133 }
NaotoMorita 25:07ac5c6cd61c 134
NaotoMorita 25:07ac5c6cd61c 135 void ScErrStateEKF::getVihat(float (&res)[3]){
NaotoMorita 25:07ac5c6cd61c 136 for (int i = 0; i < 3; i++){
NaotoMorita 25:07ac5c6cd61c 137 res[i] = vihat(i+1,1);
NaotoMorita 25:07ac5c6cd61c 138 }
NaotoMorita 25:07ac5c6cd61c 139 }
NaotoMorita 25:07ac5c6cd61c 140
NaotoMorita 25:07ac5c6cd61c 141 void ScErrStateEKF::getGyroBias(float (&resVal)[3], float (&resCov)[6]){
NaotoMorita 25:07ac5c6cd61c 142 resVal[0] = gyroBias.x;
NaotoMorita 25:07ac5c6cd61c 143 resVal[1] = gyroBias.y;
NaotoMorita 25:07ac5c6cd61c 144 resVal[2] = gyroBias.z;
NaotoMorita 31:e655d4d8e4d6 145 resCov[0] = Phat(4,4);
NaotoMorita 31:e655d4d8e4d6 146 resCov[1] = Phat(4,5);
NaotoMorita 31:e655d4d8e4d6 147 resCov[2] = Phat(4,6);
NaotoMorita 31:e655d4d8e4d6 148 resCov[3] = Phat(5,5);
NaotoMorita 31:e655d4d8e4d6 149 resCov[4] = Phat(5,6);
NaotoMorita 31:e655d4d8e4d6 150 resCov[5] = Phat(6,6);
NaotoMorita 25:07ac5c6cd61c 151
NaotoMorita 25:07ac5c6cd61c 152 }
NaotoMorita 25:07ac5c6cd61c 153
NaotoMorita 19:3fae66745363 154
NaotoMorita 36:b1d107b00351 155
NaotoMorita 19:3fae66745363 156 void ScErrStateEKF::updateAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 157 {
NaotoMorita 21:d6079def0473 158 acc -= accBias;
NaotoMorita 20:37d3c3ee36e9 159 Matrix dcm(3,3);
NaotoMorita 20:37d3c3ee36e9 160 computeDcm(dcm, qhat);
NaotoMorita 20:37d3c3ee36e9 161 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 21:d6079def0473 162 Matrix H(3,nState);
NaotoMorita 20:37d3c3ee36e9 163 H(1,2) = -2.0f*gvec.z;
NaotoMorita 20:37d3c3ee36e9 164 H(1,3) = 2.0f*gvec.y;
NaotoMorita 20:37d3c3ee36e9 165 H(2,1) = 2.0f*gvec.z;
NaotoMorita 20:37d3c3ee36e9 166 H(2,3) = -2.0f*gvec.x;
NaotoMorita 20:37d3c3ee36e9 167 H(3,1) = -2.0f*gvec.y;
NaotoMorita 20:37d3c3ee36e9 168 H(3,2) = 2.0f*gvec.x;
NaotoMorita 36:b1d107b00351 169 H(1,7) = 1.0f;
NaotoMorita 36:b1d107b00351 170 H(2,8) = 1.0f;
NaotoMorita 36:b1d107b00351 171 H(3,9) = 1.0f;
NaotoMorita 20:37d3c3ee36e9 172 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra+Qab);
NaotoMorita 21:d6079def0473 173 Matrix z = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 20:37d3c3ee36e9 174 Matrix corrVal = K * (z-H*errState);
NaotoMorita 20:37d3c3ee36e9 175 errState = errState + corrVal;
NaotoMorita 21:d6079def0473 176 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra+Qab)*MatrixMath::Transpose(K);
NaotoMorita 20:37d3c3ee36e9 177 }
NaotoMorita 20:37d3c3ee36e9 178
NaotoMorita 20:37d3c3ee36e9 179 void ScErrStateEKF::updateGyroBiasConstraints(Vector3 gyro)
NaotoMorita 20:37d3c3ee36e9 180 {
NaotoMorita 21:d6079def0473 181 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 182 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 183 computeDcm(dcm, qhat);
NaotoMorita 36:b1d107b00351 184 Matrix H(2,nState);
NaotoMorita 36:b1d107b00351 185 H(1,4) = 1.0f*(dcm(1,1));
NaotoMorita 36:b1d107b00351 186 H(1,5) = 1.0f*(dcm(2,1));
NaotoMorita 36:b1d107b00351 187 H(1,6) = 1.0f*(dcm(3,1));
NaotoMorita 36:b1d107b00351 188 H(2,4) = 1.0f*(dcm(1,2));
NaotoMorita 36:b1d107b00351 189 H(2,5) = 1.0f*(dcm(2,2));
NaotoMorita 36:b1d107b00351 190 H(2,6) = 1.0f*(dcm(3,2));
NaotoMorita 23:1509648c2318 191
NaotoMorita 36:b1d107b00351 192 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rgsc);
NaotoMorita 31:e655d4d8e4d6 193 Matrix z(2,1);
NaotoMorita 31:e655d4d8e4d6 194 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 36:b1d107b00351 195 Matrix corrVal = K * (z-H*errState);
NaotoMorita 36:b1d107b00351 196 errState = errState + corrVal;
NaotoMorita 36:b1d107b00351 197 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgsc)*MatrixMath::Transpose(K);
NaotoMorita 23:1509648c2318 198 }
NaotoMorita 23:1509648c2318 199
NaotoMorita 23:1509648c2318 200
NaotoMorita 19:3fae66745363 201 void ScErrStateEKF::updateStaticAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 202 {
NaotoMorita 19:3fae66745363 203 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 204 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 205 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 21:d6079def0473 206 Matrix H(3,nState);
NaotoMorita 19:3fae66745363 207 H(1,2) = -2.0f*gvec.z;
NaotoMorita 19:3fae66745363 208 H(1,3) = 2.0f*gvec.y;
NaotoMorita 19:3fae66745363 209 H(2,1) = 2.0f*gvec.z;
NaotoMorita 19:3fae66745363 210 H(2,3) = -2.0f*gvec.x;
NaotoMorita 19:3fae66745363 211 H(3,1) = -2.0f*gvec.y;
NaotoMorita 19:3fae66745363 212 H(3,2) = 2.0f*gvec.x;
NaotoMorita 19:3fae66745363 213 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra*100.0f);
NaotoMorita 19:3fae66745363 214 Matrix accmat(3,1);
NaotoMorita 19:3fae66745363 215 accmat << acc.x << acc.y << acc.z;
NaotoMorita 19:3fae66745363 216 Matrix gref(3,1);
NaotoMorita 19:3fae66745363 217 gref << 0.0f << 0.0f << accref.z;
NaotoMorita 19:3fae66745363 218 Matrix z = accmat-dcm*gref;
NaotoMorita 19:3fae66745363 219 errState = errState + K * (z-H*errState);
NaotoMorita 21:d6079def0473 220 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra*100.0f)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 221 }
NaotoMorita 19:3fae66745363 222
NaotoMorita 32:321a756e12ad 223 void ScErrStateEKF::updateGPSVelocity(float vi_x, float vi_y, float sinkRate,Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 224 {
NaotoMorita 31:e655d4d8e4d6 225 acc -= accBias;
NaotoMorita 31:e655d4d8e4d6 226 Matrix dcm(3,3);
NaotoMorita 31:e655d4d8e4d6 227 computeDcm(dcm, qhat);
NaotoMorita 31:e655d4d8e4d6 228 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 32:321a756e12ad 229 Matrix H(6,nState);
NaotoMorita 31:e655d4d8e4d6 230 H(1,2) = -2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 231 H(1,3) = 2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 232 H(2,1) = 2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 233 H(2,3) = -2.0f*gvec.x;
NaotoMorita 31:e655d4d8e4d6 234 H(3,1) = -2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 235 H(3,2) = 2.0f*gvec.x;
NaotoMorita 36:b1d107b00351 236 H(1,7) = 1.0f;
NaotoMorita 36:b1d107b00351 237 H(2,8) = 1.0f;
NaotoMorita 36:b1d107b00351 238 H(3,9) = 1.0f;
NaotoMorita 36:b1d107b00351 239 H(4,10) = 1.0f;
NaotoMorita 36:b1d107b00351 240 H(5,11) = 1.0f;
NaotoMorita 36:b1d107b00351 241 H(6,12) = 1.0f;
NaotoMorita 31:e655d4d8e4d6 242
NaotoMorita 32:321a756e12ad 243 Matrix R(6,6);
NaotoMorita 31:e655d4d8e4d6 244 R(1,1) = Ra(1,1)+Qab(1,1);
NaotoMorita 31:e655d4d8e4d6 245 R(2,2) = Ra(2,2)+Qab(2,2);
NaotoMorita 31:e655d4d8e4d6 246 R(3,3) = Ra(3,3)+Qab(3,3);
NaotoMorita 31:e655d4d8e4d6 247 R(4,4) = Rgps(1,1);
NaotoMorita 31:e655d4d8e4d6 248 R(5,5) = Rgps(2,2);
NaotoMorita 32:321a756e12ad 249 R(6,6) = Rsr(1,1);
NaotoMorita 31:e655d4d8e4d6 250
NaotoMorita 31:e655d4d8e4d6 251 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 31:e655d4d8e4d6 252 Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 32:321a756e12ad 253 Matrix z(6,1);
NaotoMorita 32:321a756e12ad 254 z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << vi_x - vihat(1,1) << vi_y-vihat(2,1) << sinkRate - vihat(3,1);;
NaotoMorita 26:73c3f58b9d70 255 Matrix corrVal = K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 256 errState = errState + corrVal;
NaotoMorita 31:e655d4d8e4d6 257 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 258 }
NaotoMorita 19:3fae66745363 259
NaotoMorita 31:e655d4d8e4d6 260 void ScErrStateEKF::updateSinkRate(float sinkRate,Vector3 acc, Vector3 accref)
NaotoMorita 30:ff884e9b2e30 261 {
NaotoMorita 31:e655d4d8e4d6 262 acc -= accBias;
NaotoMorita 31:e655d4d8e4d6 263 Matrix dcm(3,3);
NaotoMorita 31:e655d4d8e4d6 264 computeDcm(dcm, qhat);
NaotoMorita 31:e655d4d8e4d6 265 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 31:e655d4d8e4d6 266 Matrix H(4,nState);
NaotoMorita 31:e655d4d8e4d6 267 H(1,2) = -2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 268 H(1,3) = 2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 269 H(2,1) = 2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 270 H(2,3) = -2.0f*gvec.x;
NaotoMorita 31:e655d4d8e4d6 271 H(3,1) = -2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 272 H(3,2) = 2.0f*gvec.x;
NaotoMorita 36:b1d107b00351 273 H(1,7) = 1.0f;
NaotoMorita 36:b1d107b00351 274 H(2,8) = 1.0f;
NaotoMorita 36:b1d107b00351 275 H(3,9) = 1.0f;
NaotoMorita 36:b1d107b00351 276 H(4,12) = 1.0f;
NaotoMorita 31:e655d4d8e4d6 277
NaotoMorita 31:e655d4d8e4d6 278 Matrix R(4,4);
NaotoMorita 31:e655d4d8e4d6 279 R(1,1) = Ra(1,1)+Qab(1,1);
NaotoMorita 31:e655d4d8e4d6 280 R(2,2) = Ra(2,2)+Qab(2,2);
NaotoMorita 31:e655d4d8e4d6 281 R(3,3) = Ra(3,3)+Qab(3,3);
NaotoMorita 31:e655d4d8e4d6 282 R(4,4) = Rsr(1,1);
NaotoMorita 31:e655d4d8e4d6 283
NaotoMorita 31:e655d4d8e4d6 284 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 31:e655d4d8e4d6 285 Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 31:e655d4d8e4d6 286 Matrix z(4,1);
NaotoMorita 31:e655d4d8e4d6 287 z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << sinkRate - vihat(3,1);
NaotoMorita 30:ff884e9b2e30 288 Matrix corrVal = K * (z-H*errState);
NaotoMorita 30:ff884e9b2e30 289 errState = errState + corrVal;
NaotoMorita 31:e655d4d8e4d6 290 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 30:ff884e9b2e30 291 }
NaotoMorita 30:ff884e9b2e30 292
NaotoMorita 25:07ac5c6cd61c 293 void ScErrStateEKF::updateCenteredGyroBiasCorrection(float (&cBg)[3])
NaotoMorita 25:07ac5c6cd61c 294 {
NaotoMorita 25:07ac5c6cd61c 295
NaotoMorita 25:07ac5c6cd61c 296 Matrix RgyroBias(3,3);
NaotoMorita 25:07ac5c6cd61c 297 for(int i = 1;i<4;i++){
NaotoMorita 25:07ac5c6cd61c 298 RgyroBias(i,i) = 0.1f;
NaotoMorita 25:07ac5c6cd61c 299 }
NaotoMorita 25:07ac5c6cd61c 300
NaotoMorita 36:b1d107b00351 301 Matrix H(3,nState);
NaotoMorita 36:b1d107b00351 302 H(1,4) = 1.0f;
NaotoMorita 36:b1d107b00351 303 H(2,5) = 1.0f;
NaotoMorita 36:b1d107b00351 304 H(3,6) = 1.0f;
NaotoMorita 25:07ac5c6cd61c 305
NaotoMorita 36:b1d107b00351 306 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RgyroBias);
NaotoMorita 25:07ac5c6cd61c 307 Matrix z(3,1);
NaotoMorita 25:07ac5c6cd61c 308 z <<cBg[0]-gyroBias.x <<cBg[1]-gyroBias.y <<cBg[2]-gyroBias.z;
NaotoMorita 36:b1d107b00351 309 Matrix corrVal = K * (z-H*errState);
NaotoMorita 36:b1d107b00351 310 errState = errState + corrVal;
NaotoMorita 36:b1d107b00351 311 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RgyroBias)*MatrixMath::Transpose(K);
NaotoMorita 25:07ac5c6cd61c 312
NaotoMorita 25:07ac5c6cd61c 313 }
NaotoMorita 25:07ac5c6cd61c 314
NaotoMorita 19:3fae66745363 315 void ScErrStateEKF::resetBias()
NaotoMorita 19:3fae66745363 316 {
NaotoMorita 36:b1d107b00351 317 gyroBias.x = gyroBias.x + errState(4,1)*1.0f;
NaotoMorita 36:b1d107b00351 318 gyroBias.y = gyroBias.y + errState(5,1)*1.0f;
NaotoMorita 36:b1d107b00351 319 gyroBias.z = gyroBias.z + errState(6,1)*1.0f;
NaotoMorita 19:3fae66745363 320 errState(4,1) = 0.0f;
NaotoMorita 19:3fae66745363 321 errState(5,1) = 0.0f;
NaotoMorita 19:3fae66745363 322 errState(6,1) = 0.0f;
NaotoMorita 36:b1d107b00351 323 accBias.x = accBias.x + errState(7,1);
NaotoMorita 36:b1d107b00351 324 accBias.y = accBias.y + errState(8,1);
NaotoMorita 36:b1d107b00351 325 accBias.z = accBias.z + errState(9,1);
NaotoMorita 36:b1d107b00351 326 errState(7,1) = 0.0f;
NaotoMorita 36:b1d107b00351 327 errState(8,1) = 0.0f;
NaotoMorita 36:b1d107b00351 328 errState(9,1) = 0.0f;
NaotoMorita 19:3fae66745363 329 }
NaotoMorita 19:3fae66745363 330
NaotoMorita 19:3fae66745363 331 void ScErrStateEKF::computeAngles(Vector3& rpy,Vector3 rpy_align)
NaotoMorita 19:3fae66745363 332 {
NaotoMorita 19:3fae66745363 333 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 334 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 335 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 336 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 337 Matrix qest = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 338 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qest),qest));
NaotoMorita 19:3fae66745363 339 qest *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 340 float q0 = qest( 1, 1 );
NaotoMorita 19:3fae66745363 341 float q1 = qest( 2, 1 );
NaotoMorita 19:3fae66745363 342 float q2 = qest( 3, 1 );
NaotoMorita 19:3fae66745363 343 float q3 = qest( 4, 1 );
NaotoMorita 19:3fae66745363 344 rpy.x = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-rpy_align.x;
NaotoMorita 19:3fae66745363 345 rpy.y = asinf(-2.0f * (q1*q3 - q0*q2))-rpy_align.y;
NaotoMorita 19:3fae66745363 346 rpy.z = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 19:3fae66745363 347
NaotoMorita 19:3fae66745363 348 }
NaotoMorita 19:3fae66745363 349
NaotoMorita 21:d6079def0473 350
NaotoMorita 21:d6079def0473 351 void ScErrStateEKF::fuseErr2Nominal()
NaotoMorita 19:3fae66745363 352 {
NaotoMorita 19:3fae66745363 353 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 354 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 355 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 356 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 357 qhat = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 358 errState(1,1) = 0.0f;
NaotoMorita 19:3fae66745363 359 errState(2,1) = 0.0f;
NaotoMorita 19:3fae66745363 360 errState(3,1) = 0.0f;
NaotoMorita 19:3fae66745363 361 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 362 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 363
NaotoMorita 36:b1d107b00351 364 vihat(1,1) += errState(10,1);
NaotoMorita 36:b1d107b00351 365 vihat(2,1) += errState(11,1);
NaotoMorita 36:b1d107b00351 366 vihat(3,1) += errState(12,1);
NaotoMorita 36:b1d107b00351 367 errState(10,1) = 0.0f;
NaotoMorita 36:b1d107b00351 368 errState(11,1) = 0.0f;
NaotoMorita 36:b1d107b00351 369 errState(12,1) = 0.0f;
NaotoMorita 19:3fae66745363 370 }
NaotoMorita 19:3fae66745363 371
NaotoMorita 19:3fae66745363 372 Matrix ScErrStateEKF::quatmultiply(Matrix q, Matrix r)
NaotoMorita 19:3fae66745363 373 {
NaotoMorita 19:3fae66745363 374 Matrix qout(4,1);
NaotoMorita 19:3fae66745363 375 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 376 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 377 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 378 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 379 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout));
NaotoMorita 19:3fae66745363 380 qout *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 381 return qout;
NaotoMorita 19:3fae66745363 382 }
NaotoMorita 19:3fae66745363 383
NaotoMorita 19:3fae66745363 384 void ScErrStateEKF::computeDcm(Matrix& dcm, Matrix quat)
NaotoMorita 19:3fae66745363 385 {
NaotoMorita 19:3fae66745363 386
NaotoMorita 19:3fae66745363 387 float q0 = quat( 1, 1 );
NaotoMorita 19:3fae66745363 388 float q1 = quat( 2, 1 );
NaotoMorita 19:3fae66745363 389 float q2 = quat( 3, 1 );
NaotoMorita 19:3fae66745363 390 float q3 = quat( 4, 1 );
NaotoMorita 19:3fae66745363 391
NaotoMorita 19:3fae66745363 392 dcm(1,1) = q0*q0 + q1*q1 - q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 393 dcm(1,2) = 2*(q1*q2 + q0*q3);
NaotoMorita 19:3fae66745363 394 dcm(1,3) = 2*(q1*q3 - q0*q2);
NaotoMorita 19:3fae66745363 395 dcm(2,1) = 2*(q1*q2 - q0*q3);
NaotoMorita 19:3fae66745363 396 dcm(2,2) = q0*q0 - q1*q1 + q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 397 dcm(2,3) = 2*(q2*q3 + q0*q1);
NaotoMorita 19:3fae66745363 398 dcm(3,1) = 2*(q1*q3 + q0*q2);
NaotoMorita 19:3fae66745363 399 dcm(3,2) = 2*(q2*q3 - q0*q1);
NaotoMorita 19:3fae66745363 400 dcm(3,3) = q0*q0 - q1*q1 - q2*q2 + q3*q3;
NaotoMorita 19:3fae66745363 401
NaotoMorita 19:3fae66745363 402 }
NaotoMorita 19:3fae66745363 403
NaotoMorita 19:3fae66745363 404 void ScErrStateEKF::defineQhat(Vector3 align){
NaotoMorita 19:3fae66745363 405 float cos_z_2 = cosf(0.5f*align.z);
NaotoMorita 19:3fae66745363 406 float cos_y_2 = cosf(0.5f*align.y);
NaotoMorita 19:3fae66745363 407 float cos_x_2 = cosf(0.5f*align.x);
NaotoMorita 19:3fae66745363 408
NaotoMorita 19:3fae66745363 409 float sin_z_2 = sinf(0.5f*align.z);
NaotoMorita 19:3fae66745363 410 float sin_y_2 = sinf(0.5f*align.y);
NaotoMorita 19:3fae66745363 411 float sin_x_2 = sinf(0.5f*align.x);
NaotoMorita 19:3fae66745363 412
NaotoMorita 19:3fae66745363 413 // and now compute quaternion
NaotoMorita 19:3fae66745363 414 qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 415 qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2;
NaotoMorita 19:3fae66745363 416 qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 417 qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 418 }
NaotoMorita 19:3fae66745363 419
NaotoMorita 23:1509648c2318 420 void ScErrStateEKF::computeVb(Vector3& vb)
NaotoMorita 23:1509648c2318 421 {
NaotoMorita 23:1509648c2318 422 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 423 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 424 Matrix vbmat = dcm*vihat;
NaotoMorita 23:1509648c2318 425 vb.x = vbmat(1,1);
NaotoMorita 23:1509648c2318 426 vb.y = vbmat(2,1);
NaotoMorita 23:1509648c2318 427 vb.z = vbmat(3,1);
NaotoMorita 23:1509648c2318 428
NaotoMorita 23:1509648c2318 429 }
NaotoMorita 23:1509648c2318 430
NaotoMorita 19:3fae66745363 431
NaotoMorita 19:3fae66745363 432
NaotoMorita 19:3fae66745363 433 Vector3 ScErrStateEKF::calcDynAcc(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 434 {
NaotoMorita 19:3fae66745363 435 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 436 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 437 float _x, _y, _z;
NaotoMorita 19:3fae66745363 438 _x = acc.x-(dcm( 1, 1 )*accref.x+dcm( 1, 2 )*accref.y+dcm( 1, 3 )*accref.z);
NaotoMorita 19:3fae66745363 439 _y = acc.y-(dcm( 2, 1 )*accref.x+dcm( 2, 2 )*accref.y+dcm( 2, 3 )*accref.z);
NaotoMorita 19:3fae66745363 440 _z = acc.z-(dcm( 3, 1 )*accref.x+dcm( 3, 2 )*accref.y+dcm( 3, 3 )*accref.z);
NaotoMorita 19:3fae66745363 441 return Vector3(_x, _y, _z);
NaotoMorita 19:3fae66745363 442 }
NaotoMorita 19:3fae66745363 443
NaotoMorita 19:3fae66745363 444
NaotoMorita 19:3fae66745363 445 bool ScErrStateEKF::determinDynStatus(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 446 {
NaotoMorita 19:3fae66745363 447 histffunc[histffuncindex] = acc.Norm()*acc.Norm()-accref.Norm()*accref.Norm()-3.0f*sigma2a;
NaotoMorita 19:3fae66745363 448 if(histffuncindex<9){
NaotoMorita 19:3fae66745363 449 histffuncindex += 1;
NaotoMorita 19:3fae66745363 450 }else{
NaotoMorita 19:3fae66745363 451 histffuncindex =0;
NaotoMorita 19:3fae66745363 452 }
NaotoMorita 19:3fae66745363 453 aveffunc = 0;
NaotoMorita 19:3fae66745363 454 for(int i = 1;i<10;i++){
NaotoMorita 19:3fae66745363 455 aveffunc += 1.0f/10.0f*histffunc[i];
NaotoMorita 19:3fae66745363 456 }
NaotoMorita 19:3fae66745363 457 sigma2f = 1.0f/10.0f*(6.0f*sigma2a*sigma2a+4.0f*accref.Norm()*accref.Norm()*sigma2a);
NaotoMorita 19:3fae66745363 458
NaotoMorita 19:3fae66745363 459
NaotoMorita 19:3fae66745363 460 dynacc = calcDynAcc(acc,accref);
NaotoMorita 19:3fae66745363 461 bool dynCase = true;
NaotoMorita 19:3fae66745363 462 if((dynacc.Norm()<0.005f) && (abs(acc.Norm()-accref.Norm())<0.005f)){dynCase = false;}
NaotoMorita 19:3fae66745363 463 if(aveffunc<sqrt(sigma2f/0.99f) && abs(acc.Norm()-accref.Norm())<0.001f){dynCase = false;}
NaotoMorita 19:3fae66745363 464 return dynCase;
NaotoMorita 19:3fae66745363 465
NaotoMorita 19:3fae66745363 466 }
NaotoMorita 19:3fae66745363 467
NaotoMorita 22:7d84b8bc20b4 468 /*
NaotoMorita 22:7d84b8bc20b4 469 void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt)
NaotoMorita 22:7d84b8bc20b4 470 {
NaotoMorita 22:7d84b8bc20b4 471 gyro -= gyroBias;
NaotoMorita 22:7d84b8bc20b4 472 acc -= accBias;
NaotoMorita 22:7d84b8bc20b4 473 Matrix A(4,4);
NaotoMorita 22:7d84b8bc20b4 474 A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z
NaotoMorita 22:7d84b8bc20b4 475 << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y
NaotoMorita 22:7d84b8bc20b4 476 << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x
NaotoMorita 22:7d84b8bc20b4 477 << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ;
NaotoMorita 22:7d84b8bc20b4 478
NaotoMorita 22:7d84b8bc20b4 479 Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 22:7d84b8bc20b4 480 qhat = phi * qhat;
NaotoMorita 22:7d84b8bc20b4 481 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 22:7d84b8bc20b4 482 qhat *= (1.0f/ qnorm);
NaotoMorita 22:7d84b8bc20b4 483
NaotoMorita 22:7d84b8bc20b4 484 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 485 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 486 vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f;
NaotoMorita 22:7d84b8bc20b4 487 }
NaotoMorita 19:3fae66745363 488
NaotoMorita 22:7d84b8bc20b4 489 void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt)
NaotoMorita 22:7d84b8bc20b4 490 {
NaotoMorita 22:7d84b8bc20b4 491 gyro -= gyroBias;
NaotoMorita 22:7d84b8bc20b4 492 acc -= accBias;
NaotoMorita 22:7d84b8bc20b4 493 Matrix A(nState,nState);
NaotoMorita 22:7d84b8bc20b4 494 A(1,2) = gyro.z;
NaotoMorita 22:7d84b8bc20b4 495 A(1,3) = -gyro.y;
NaotoMorita 22:7d84b8bc20b4 496 A(2,1) = -gyro.z;
NaotoMorita 22:7d84b8bc20b4 497 A(2,3) = gyro.x;
NaotoMorita 22:7d84b8bc20b4 498 A(3,1) = gyro.y;
NaotoMorita 22:7d84b8bc20b4 499 A(3,2) = -gyro.x;
NaotoMorita 22:7d84b8bc20b4 500 A(1,4) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 501 A(2,5) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 502 A(3,6) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 503
NaotoMorita 22:7d84b8bc20b4 504 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 505 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 506 Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z);
NaotoMorita 22:7d84b8bc20b4 507 Matrix baterm = -9.8f*MatrixMath::Transpose(dcm);
NaotoMorita 22:7d84b8bc20b4 508 for (int i = 1; i < 4; i++){
NaotoMorita 22:7d84b8bc20b4 509 for (int j = 1; i < 4; i++){
NaotoMorita 22:7d84b8bc20b4 510 A(i+9,j) = qeterm(i,j);
NaotoMorita 22:7d84b8bc20b4 511 A(i+9,j+6) = baterm(i,j);
NaotoMorita 22:7d84b8bc20b4 512 }
NaotoMorita 22:7d84b8bc20b4 513 }
NaotoMorita 22:7d84b8bc20b4 514
NaotoMorita 22:7d84b8bc20b4 515 Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 22:7d84b8bc20b4 516 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 517 errState = phi * errState;
NaotoMorita 22:7d84b8bc20b4 518 Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd;
NaotoMorita 22:7d84b8bc20b4 519 }
NaotoMorita 22:7d84b8bc20b4 520
NaotoMorita 22:7d84b8bc20b4 521 void ScErrStateEKF::updateVelocityConstraints()
NaotoMorita 22:7d84b8bc20b4 522 {
NaotoMorita 22:7d84b8bc20b4 523
NaotoMorita 22:7d84b8bc20b4 524 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 525 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 526 Matrix H(2,nState);
NaotoMorita 22:7d84b8bc20b4 527
NaotoMorita 22:7d84b8bc20b4 528 Matrix nomVb = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 529 Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 22:7d84b8bc20b4 530 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 531 H(1,j) = -qeterm(1,j);
NaotoMorita 22:7d84b8bc20b4 532 H(2,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 533 //H(3,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 534 H(1,9+j) = -dcm(1,j);
NaotoMorita 22:7d84b8bc20b4 535 H(2,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 536 //H(3,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 537 }
NaotoMorita 22:7d84b8bc20b4 538
NaotoMorita 22:7d84b8bc20b4 539 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc);
NaotoMorita 22:7d84b8bc20b4 540 Matrix z(2,1);
NaotoMorita 22:7d84b8bc20b4 541 z << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 22:7d84b8bc20b4 542 Matrix corrVal = K * (z-H*errState);
NaotoMorita 22:7d84b8bc20b4 543 errState = errState + corrVal;
NaotoMorita 22:7d84b8bc20b4 544 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K);
NaotoMorita 22:7d84b8bc20b4 545
NaotoMorita 22:7d84b8bc20b4 546 }
NaotoMorita 22:7d84b8bc20b4 547
NaotoMorita 22:7d84b8bc20b4 548 void ScErrStateEKF::updateConstraints(Vector3 gyro)
NaotoMorita 22:7d84b8bc20b4 549 {
NaotoMorita 22:7d84b8bc20b4 550
NaotoMorita 22:7d84b8bc20b4 551 gyro -=gyroBias;
NaotoMorita 22:7d84b8bc20b4 552
NaotoMorita 22:7d84b8bc20b4 553 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 554 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 555
NaotoMorita 22:7d84b8bc20b4 556 Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z);
NaotoMorita 22:7d84b8bc20b4 557 Matrix H(4,nState);
NaotoMorita 22:7d84b8bc20b4 558 for(int i = 1; i<3; i++){
NaotoMorita 22:7d84b8bc20b4 559 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 560 H(i,j) = qeterm(i,j);
NaotoMorita 22:7d84b8bc20b4 561 }
NaotoMorita 22:7d84b8bc20b4 562 }
NaotoMorita 22:7d84b8bc20b4 563 H(1,4) = 1.0f*(dcm(1,1));
NaotoMorita 22:7d84b8bc20b4 564 H(1,5) = 1.0f*(dcm(2,1));
NaotoMorita 22:7d84b8bc20b4 565 H(1,6) = 1.0f*(dcm(3,1));
NaotoMorita 22:7d84b8bc20b4 566 H(2,4) = 1.0f*(dcm(1,2));
NaotoMorita 22:7d84b8bc20b4 567 H(2,5) = 1.0f*(dcm(2,2));
NaotoMorita 22:7d84b8bc20b4 568 H(2,6) = 1.0f*(dcm(3,2));
NaotoMorita 22:7d84b8bc20b4 569
NaotoMorita 22:7d84b8bc20b4 570 Matrix nomVb = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 571 qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 22:7d84b8bc20b4 572 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 573 H(3,j) = -qeterm(1,j);
NaotoMorita 22:7d84b8bc20b4 574 H(4,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 575 //H(3,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 576 H(3,9+j) = -dcm(1,j);
NaotoMorita 22:7d84b8bc20b4 577 H(4,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 578 //H(3,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 579 }
NaotoMorita 22:7d84b8bc20b4 580
NaotoMorita 22:7d84b8bc20b4 581 Matrix R(4,4);
NaotoMorita 22:7d84b8bc20b4 582 R(1,1) = Rgsc(1,1);
NaotoMorita 22:7d84b8bc20b4 583 R(2,2) = Rgsc(2,1);
NaotoMorita 22:7d84b8bc20b4 584 R(3,3) = Rvsc(1,1);
NaotoMorita 22:7d84b8bc20b4 585 R(4,4) = Rvsc(2,1);
NaotoMorita 22:7d84b8bc20b4 586 //R(5,5) = Rvsc(3,1);
NaotoMorita 22:7d84b8bc20b4 587 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 22:7d84b8bc20b4 588 Matrix z(4,1);
NaotoMorita 22:7d84b8bc20b4 589 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 590 Matrix corrVal = K * (z-H*errState);
NaotoMorita 22:7d84b8bc20b4 591 errState = errState + corrVal;
NaotoMorita 22:7d84b8bc20b4 592 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 22:7d84b8bc20b4 593 }
NaotoMorita 22:7d84b8bc20b4 594
NaotoMorita 22:7d84b8bc20b4 595 void ScErrStateEKF::computeVb(Vector3& vb)
NaotoMorita 22:7d84b8bc20b4 596 {
NaotoMorita 22:7d84b8bc20b4 597 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 598 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 599 Matrix vbmat = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 600 vb.x = vbmat(1,1);
NaotoMorita 22:7d84b8bc20b4 601 vb.y = vbmat(2,1);
NaotoMorita 22:7d84b8bc20b4 602 vb.z = vbmat(3,1);
NaotoMorita 22:7d84b8bc20b4 603
NaotoMorita 22:7d84b8bc20b4 604 }
NaotoMorita 26:73c3f58b9d70 605
NaotoMorita 26:73c3f58b9d70 606 void ScErrStateEKF::updateMagMeasures(Vector3 mag)
NaotoMorita 26:73c3f58b9d70 607 {
NaotoMorita 26:73c3f58b9d70 608 //mag = mag/mag.Norm();
NaotoMorita 26:73c3f58b9d70 609 Matrix dcm(3,3);
NaotoMorita 26:73c3f58b9d70 610 computeDcm(dcm, qhat);
NaotoMorita 26:73c3f58b9d70 611
NaotoMorita 26:73c3f58b9d70 612 Matrix magvec(3,1);
NaotoMorita 26:73c3f58b9d70 613 magvec(1,1) = mag.x;
NaotoMorita 26:73c3f58b9d70 614 magvec(2,1) = mag.y;
NaotoMorita 26:73c3f58b9d70 615 magvec(3,1) = mag.z;
NaotoMorita 26:73c3f58b9d70 616
NaotoMorita 26:73c3f58b9d70 617 Matrix magnedvec = MatrixMath::Transpose(dcm)*magvec;
NaotoMorita 26:73c3f58b9d70 618 Matrix magrefmod(3,1);
NaotoMorita 26:73c3f58b9d70 619 magrefmod(1,1) = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1));
NaotoMorita 26:73c3f58b9d70 620 magrefmod(2,1) = 0.0f;
NaotoMorita 26:73c3f58b9d70 621 magrefmod(3,1) = magnedvec(3,1);
NaotoMorita 26:73c3f58b9d70 622
NaotoMorita 26:73c3f58b9d70 623 Matrix mvec = dcm*magrefmod ;
NaotoMorita 26:73c3f58b9d70 624 Matrix H(3,nState);
NaotoMorita 26:73c3f58b9d70 625 H(1,2) = -2.0f*magvec(3,1);
NaotoMorita 26:73c3f58b9d70 626 H(1,3) = 2.0f*magvec(2,1);
NaotoMorita 26:73c3f58b9d70 627 H(2,1) = 2.0f*magvec(3,1);
NaotoMorita 26:73c3f58b9d70 628 H(2,3) = -2.0f*magvec(1,1);
NaotoMorita 26:73c3f58b9d70 629 H(3,1) = -2.0f*magvec(2,1);
NaotoMorita 26:73c3f58b9d70 630 H(3,2) = 2.0f*magvec(1,1);
NaotoMorita 26:73c3f58b9d70 631 Matrix Pm(nState,nState);
NaotoMorita 26:73c3f58b9d70 632 for(int i = 1; i<4; i++){
NaotoMorita 26:73c3f58b9d70 633 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 634 Pm(i,j) = Phat(i,j);
NaotoMorita 26:73c3f58b9d70 635 }
NaotoMorita 26:73c3f58b9d70 636 }
NaotoMorita 26:73c3f58b9d70 637 Matrix r3(3,1);
NaotoMorita 26:73c3f58b9d70 638 r3 << dcm(1,3)<< dcm(2,3) << dcm(3,3);
NaotoMorita 26:73c3f58b9d70 639 Matrix kpart = r3*MatrixMath::Transpose(r3);
NaotoMorita 26:73c3f58b9d70 640 Matrix Kmod(nState,nState);
NaotoMorita 26:73c3f58b9d70 641 for(int i = 1; i<4; i++){
NaotoMorita 26:73c3f58b9d70 642 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 643 Kmod(i,j) = kpart(i,j);
NaotoMorita 26:73c3f58b9d70 644 }
NaotoMorita 26:73c3f58b9d70 645 }
NaotoMorita 26:73c3f58b9d70 646
NaotoMorita 26:73c3f58b9d70 647 Matrix K = Kmod*(Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rm);
NaotoMorita 26:73c3f58b9d70 648 Matrix z = magvec-mvec;
NaotoMorita 26:73c3f58b9d70 649 errState = errState + K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 650 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rm)*MatrixMath::Transpose(K);
NaotoMorita 26:73c3f58b9d70 651 }
NaotoMorita 26:73c3f58b9d70 652
NaotoMorita 26:73c3f58b9d70 653 void ScErrStateEKF::updateVelocityConstraints()
NaotoMorita 26:73c3f58b9d70 654 {
NaotoMorita 26:73c3f58b9d70 655
NaotoMorita 26:73c3f58b9d70 656 Matrix dcm(3,3);
NaotoMorita 26:73c3f58b9d70 657 computeDcm(dcm, qhat);
NaotoMorita 26:73c3f58b9d70 658 Matrix H(2,nState);
NaotoMorita 26:73c3f58b9d70 659
NaotoMorita 26:73c3f58b9d70 660 Matrix nomVb = dcm*vihat;
NaotoMorita 26:73c3f58b9d70 661 Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 26:73c3f58b9d70 662 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 663 H(1,j) = -qeterm(1,j);
NaotoMorita 26:73c3f58b9d70 664 H(2,j) = -qeterm(3,j);
NaotoMorita 26:73c3f58b9d70 665 //H(3,j) = -qeterm(3,j);
NaotoMorita 26:73c3f58b9d70 666 H(1,9+j) = -dcm(1,j);
NaotoMorita 26:73c3f58b9d70 667 H(2,9+j) = -dcm(3,j);
NaotoMorita 26:73c3f58b9d70 668 //H(3,9+j) = -dcm(3,j);
NaotoMorita 26:73c3f58b9d70 669 }
NaotoMorita 26:73c3f58b9d70 670
NaotoMorita 26:73c3f58b9d70 671 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc);
NaotoMorita 26:73c3f58b9d70 672 Matrix z(2,1);
NaotoMorita 26:73c3f58b9d70 673 z << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 26:73c3f58b9d70 674 Matrix corrVal = K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 675 errState = errState + corrVal;
NaotoMorita 26:73c3f58b9d70 676 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K);
NaotoMorita 26:73c3f58b9d70 677
NaotoMorita 26:73c3f58b9d70 678 }
NaotoMorita 22:7d84b8bc20b4 679 */
NaotoMorita 22:7d84b8bc20b4 680
NaotoMorita 22:7d84b8bc20b4 681