HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

solaESKF.cpp@54:cd514d9d4b19, 2021-11-07 (annotated)

Committer:
NaotoMorita
Date:
Sun Nov 07 05:38:04 2021 +0000
Revision:
54:cd514d9d4b19
Parent:
53:8b551358a7e3
Child:
55:21611d4cf7e8
include modify

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 46:15988dc41923 6 :pihat(3,1),vihat(3,1),qhat(4,1),accBias(3,1),gyroBias(3,1),gravity(3,1),errState(18,1),Phat(18,18),Q(18,18)
NaotoMorita 19:3fae66745363 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 46:15988dc41923 14
NaotoMorita 46:15988dc41923 15 for (int i = 1; i < 19; i++){
NaotoMorita 46:15988dc41923 16 errState(i,1) = 0.0f;
NaotoMorita 46:15988dc41923 17 for (int j = 1; j < 19; j++){
NaotoMorita 46:15988dc41923 18 Phat(i,j) = 0.0f;
NaotoMorita 46:15988dc41923 19 Q(i,j) = 0.0f;
NaotoMorita 46:15988dc41923 20 }
NaotoMorita 46:15988dc41923 21 }
NaotoMorita 44:7d82e63b6a86 22
NaotoMorita 44:7d82e63b6a86 23
NaotoMorita 21:d6079def0473 24 nState = errState.getRows();
NaotoMorita 47:2467de40951f 25
NaotoMorita 46:15988dc41923 26 setBlockDiag(Phat,0.1f,1,3);//position
NaotoMorita 46:15988dc41923 27 setBlockDiag(Phat,0.1f,4,6);//velocity
NaotoMorita 46:15988dc41923 28 setBlockDiag(Phat,0.1f,7,9);//angle error
NaotoMorita 47:2467de40951f 29 setBlockDiag(Phat,0.1f,10,12);//acc bias
NaotoMorita 47:2467de40951f 30 setBlockDiag(Phat,0.1f,13,15);//gyro bias
NaotoMorita 47:2467de40951f 31 setBlockDiag(Phat,0.00000001f,16,18);//gravity
NaotoMorita 47:2467de40951f 32 setBlockDiag(Q,0.00025f,4,6);//velocity
NaotoMorita 47:2467de40951f 33 setBlockDiag(Q,0.005f/57.0,7,9);//angle error
NaotoMorita 46:15988dc41923 34 setBlockDiag(Q,0.001f,10,12);//acc bias
NaotoMorita 46:15988dc41923 35 setBlockDiag(Q,0.001f,13,15);//gyro bias //positionとgravityはQ項なし
NaotoMorita 19:3fae66745363 36
NaotoMorita 19:3fae66745363 37
NaotoMorita 19:3fae66745363 38 }
NaotoMorita 19:3fae66745363 39
NaotoMorita 47:2467de40951f 40
NaotoMorita 44:7d82e63b6a86 41 void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt)
NaotoMorita 19:3fae66745363 42 {
NaotoMorita 44:7d82e63b6a86 43 Matrix gyrom = gyro - gyroBias;
NaotoMorita 44:7d82e63b6a86 44 Matrix accm = acc - accBias;
NaotoMorita 44:7d82e63b6a86 45
NaotoMorita 44:7d82e63b6a86 46 Matrix qint(4,1);
NaotoMorita 46:15988dc41923 47 qint << 1.0f << 0.5f*gyrom(1,1)*att_dt << 0.5f*gyrom(2,1)*att_dt << 0.5f*gyrom(3,1)*att_dt;
NaotoMorita 44:7d82e63b6a86 48 qhat = quatmultiply(qhat,qint);
NaotoMorita 19:3fae66745363 49 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 50 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 51
NaotoMorita 23:1509648c2318 52 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 53 computeDcm(dcm, qhat);
NaotoMorita 46:15988dc41923 54 Matrix accned = dcm*accm+gravity;
NaotoMorita 44:7d82e63b6a86 55 vihat += accned*att_dt;
NaotoMorita 44:7d82e63b6a86 56
NaotoMorita 44:7d82e63b6a86 57 pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt;
NaotoMorita 19:3fae66745363 58 }
NaotoMorita 19:3fae66745363 59
NaotoMorita 44:7d82e63b6a86 60 void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt)
NaotoMorita 23:1509648c2318 61 {
NaotoMorita 44:7d82e63b6a86 62 Matrix gyrom = gyro - gyroBias;
NaotoMorita 44:7d82e63b6a86 63 Matrix accm = acc - accBias;
NaotoMorita 23:1509648c2318 64
NaotoMorita 23:1509648c2318 65 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 66 computeDcm(dcm, qhat);
NaotoMorita 47:2467de40951f 67 Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1));
NaotoMorita 44:7d82e63b6a86 68
NaotoMorita 47:2467de40951f 69 Matrix A(nState,nState);
NaotoMorita 44:7d82e63b6a86 70 //position
NaotoMorita 47:2467de40951f 71 A(1,4) = 1.0f;
NaotoMorita 47:2467de40951f 72 A(2,5) = 1.0f;
NaotoMorita 47:2467de40951f 73 A(3,6) = 1.0f;
NaotoMorita 47:2467de40951f 74
NaotoMorita 47:2467de40951f 75 //velocity
NaotoMorita 46:15988dc41923 76 for (int i = 1; i < 4; i++){
NaotoMorita 46:15988dc41923 77 for (int j = 1; j < 4; j++){
NaotoMorita 47:2467de40951f 78 A(i+3,j+6) = a2v(i,j);
NaotoMorita 47:2467de40951f 79 A(i+3,j+9) = -dcm(i,j);
NaotoMorita 47:2467de40951f 80
NaotoMorita 23:1509648c2318 81 }
NaotoMorita 23:1509648c2318 82 }
NaotoMorita 47:2467de40951f 83 A(4,16) = 1.0f;
NaotoMorita 47:2467de40951f 84 A(5,17) = 1.0f;
NaotoMorita 47:2467de40951f 85 A(6,18) = 1.0f;
NaotoMorita 23:1509648c2318 86
NaotoMorita 44:7d82e63b6a86 87 //angulat error
NaotoMorita 47:2467de40951f 88 A(7,8) = gyrom(3,1);
NaotoMorita 47:2467de40951f 89 A(7,9) = -gyrom(2,1);
NaotoMorita 47:2467de40951f 90 A(8,7) = -gyrom(3,1);
NaotoMorita 47:2467de40951f 91 A(8,9) = gyrom(1,1);
NaotoMorita 47:2467de40951f 92 A(9,7) = gyrom(2,1);
NaotoMorita 47:2467de40951f 93 A(9,8) = -gyrom(1,1);
NaotoMorita 47:2467de40951f 94 A(7,13) = -1.0f;
NaotoMorita 47:2467de40951f 95 A(8,14) = -1.0f;
NaotoMorita 47:2467de40951f 96 A(9,15) = -1.0f;
NaotoMorita 25:07ac5c6cd61c 97
NaotoMorita 47:2467de40951f 98
NaotoMorita 47:2467de40951f 99 Matrix Fx = MatrixMath::Eye(nState) + A * att_dt;// + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 47:2467de40951f 100 Matrix Qd = Q * att_dt + 0.5f*A*Q * att_dt * att_dt+ 0.5f*Q*MatrixMath::Transpose(A) * att_dt * att_dt;
NaotoMorita 44:7d82e63b6a86 101
NaotoMorita 44:7d82e63b6a86 102 errState = Fx * errState;
NaotoMorita 47:2467de40951f 103 Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Qd;
NaotoMorita 25:07ac5c6cd61c 104 }
NaotoMorita 25:07ac5c6cd61c 105
NaotoMorita 50:dadad0567349 106 void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R)
NaotoMorita 46:15988dc41923 107 {
NaotoMorita 46:15988dc41923 108 Matrix accm = acc - accBias;
NaotoMorita 46:15988dc41923 109 Matrix tdcm(3,3);
NaotoMorita 46:15988dc41923 110 computeDcm(tdcm, qhat);
NaotoMorita 46:15988dc41923 111 tdcm = MatrixMath::Transpose(tdcm);
NaotoMorita 46:15988dc41923 112 Matrix tdcm_g = tdcm*gravity;
NaotoMorita 46:15988dc41923 113 Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1));
NaotoMorita 46:15988dc41923 114
NaotoMorita 50:dadad0567349 115 Matrix H(4,nState);
NaotoMorita 46:15988dc41923 116 for (int i = 1; i < 4; i++){
NaotoMorita 46:15988dc41923 117 for (int j = 1; j < 4; j++){
NaotoMorita 46:15988dc41923 118 H(i,j+6) = a2v(i,j);
NaotoMorita 46:15988dc41923 119 H(i,j+15) = tdcm(i,j);
NaotoMorita 46:15988dc41923 120 }
NaotoMorita 46:15988dc41923 121 }
NaotoMorita 46:15988dc41923 122 H(1,10) = -1.0f;
NaotoMorita 46:15988dc41923 123 H(2,11) = -1.0f;
NaotoMorita 46:15988dc41923 124 H(3,12) = -1.0f;
NaotoMorita 50:dadad0567349 125 H(4,3) = 1.0f;
NaotoMorita 46:15988dc41923 126
NaotoMorita 47:2467de40951f 127 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 47:2467de40951f 128 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 47:2467de40951f 129 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 50:dadad0567349 130 Matrix zacc = -accm-tdcm*gravity;
NaotoMorita 50:dadad0567349 131 Matrix z(4,1);
NaotoMorita 52:ab42c0497088 132 z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1);
NaotoMorita 46:15988dc41923 133 errState = K * z;
NaotoMorita 50:dadad0567349 134 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 47:2467de40951f 135 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 50:dadad0567349 136 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 46:15988dc41923 137 }
NaotoMorita 46:15988dc41923 138
NaotoMorita 46:15988dc41923 139 void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R)
NaotoMorita 46:15988dc41923 140 {
NaotoMorita 46:15988dc41923 141 Matrix gyrom = gyro - gyroBias;
NaotoMorita 46:15988dc41923 142 Matrix dcm(3,3);
NaotoMorita 46:15988dc41923 143 computeDcm(dcm, qhat);
NaotoMorita 46:15988dc41923 144 Matrix a2v = -dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1));
NaotoMorita 46:15988dc41923 145
NaotoMorita 46:15988dc41923 146 Matrix H(2,nState);
NaotoMorita 46:15988dc41923 147 for (int i = 1; i < 3; i++){
NaotoMorita 46:15988dc41923 148 for (int j = 1; j < 4; j++){
NaotoMorita 46:15988dc41923 149 H(i,j+6) = a2v(i,j);
NaotoMorita 46:15988dc41923 150 H(i,j+12) = -dcm(i,j);
NaotoMorita 46:15988dc41923 151 }
NaotoMorita 46:15988dc41923 152 }
NaotoMorita 46:15988dc41923 153
NaotoMorita 47:2467de40951f 154 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 47:2467de40951f 155 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A));
NaotoMorita 47:2467de40951f 156 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 46:15988dc41923 157
NaotoMorita 46:15988dc41923 158 Matrix z3 = -dcm*gyrom;
NaotoMorita 46:15988dc41923 159 Matrix z(2,1);
NaotoMorita 46:15988dc41923 160 z << z3(1,1) << z3(2,1);
NaotoMorita 46:15988dc41923 161 errState = K * z;
NaotoMorita 47:2467de40951f 162 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 47:2467de40951f 163 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 46:15988dc41923 164 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 46:15988dc41923 165 }
NaotoMorita 46:15988dc41923 166
NaotoMorita 46:15988dc41923 167
NaotoMorita 46:15988dc41923 168 void solaESKF::updateGPSVelocity(Matrix velgps,Matrix R)
NaotoMorita 19:3fae66745363 169 {
osaka 40:119792aa6d3b 170
NaotoMorita 43:cbc2c2d65131 171 Matrix H(3,nState);
NaotoMorita 46:15988dc41923 172 H(1,4) = 1.0f;
NaotoMorita 46:15988dc41923 173 H(2,5) = 1.0f;
NaotoMorita 46:15988dc41923 174 H(3,6) = 1.0f;
NaotoMorita 46:15988dc41923 175
NaotoMorita 47:2467de40951f 176 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 47:2467de40951f 177 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 47:2467de40951f 178 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 46:15988dc41923 179 Matrix z(3,1);
NaotoMorita 46:15988dc41923 180 z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << velgps(3,1) - vihat(3,1);
NaotoMorita 46:15988dc41923 181 errState = K * z;
NaotoMorita 50:dadad0567349 182 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 46:15988dc41923 183 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 50:dadad0567349 184 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 46:15988dc41923 185 }
NaotoMorita 43:cbc2c2d65131 186
NaotoMorita 46:15988dc41923 187 void solaESKF::updateGPSPosition(Matrix posgps,Matrix R)
NaotoMorita 46:15988dc41923 188 {
NaotoMorita 52:ab42c0497088 189 Matrix H(2,nState);
NaotoMorita 46:15988dc41923 190 H(1,1) = 1.0f;
NaotoMorita 46:15988dc41923 191 H(2,2) = 1.0f;
NaotoMorita 52:ab42c0497088 192 //H(3,3) = 1.0f;
osaka 40:119792aa6d3b 193
NaotoMorita 47:2467de40951f 194 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 47:2467de40951f 195 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 47:2467de40951f 196 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 52:ab42c0497088 197 Matrix z(2,1);
NaotoMorita 52:ab42c0497088 198 z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1); //<< posgps(3,1) - pihat(3,1);
NaotoMorita 46:15988dc41923 199 errState = K * z;
NaotoMorita 50:dadad0567349 200 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 46:15988dc41923 201 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 50:dadad0567349 202 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 203 }
NaotoMorita 46:15988dc41923 204
NaotoMorita 46:15988dc41923 205 void solaESKF::updateGPS(Matrix posgps,Matrix velgps,Matrix R)
NaotoMorita 46:15988dc41923 206 {
NaotoMorita 46:15988dc41923 207
NaotoMorita 53:8b551358a7e3 208 Matrix H(5,nState);
NaotoMorita 46:15988dc41923 209 H(1,1) = 1.0f;
NaotoMorita 46:15988dc41923 210 H(2,2) = 1.0f;
NaotoMorita 53:8b551358a7e3 211 H(3,4) = 1.0f;
NaotoMorita 53:8b551358a7e3 212 H(4,5) = 1.0f;
NaotoMorita 53:8b551358a7e3 213 H(5,6) = 1.0f;
NaotoMorita 46:15988dc41923 214
NaotoMorita 53:8b551358a7e3 215 //Matrix A = H*Phat*MatrixMath::Transpose(H)+R;
NaotoMorita 53:8b551358a7e3 216 //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A));
NaotoMorita 53:8b551358a7e3 217 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 53:8b551358a7e3 218 Matrix z(5,1);
NaotoMorita 53:8b551358a7e3 219 z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << velgps(3,1) - vihat(3,1);
NaotoMorita 46:15988dc41923 220 errState = K * z;
NaotoMorita 53:8b551358a7e3 221 Phat = (MatrixMath::Eye(nState)-K*H)*Phat;
NaotoMorita 46:15988dc41923 222 //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K);
NaotoMorita 53:8b551358a7e3 223 //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 46:15988dc41923 224 }
NaotoMorita 46:15988dc41923 225
NaotoMorita 44:7d82e63b6a86 226 Matrix solaESKF::computeAngles()
NaotoMorita 25:07ac5c6cd61c 227 {
NaotoMorita 25:07ac5c6cd61c 228
NaotoMorita 44:7d82e63b6a86 229 Matrix euler(3,1);
NaotoMorita 44:7d82e63b6a86 230 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 231 euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1)));
NaotoMorita 44:7d82e63b6a86 232 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 233 return euler;
NaotoMorita 19:3fae66745363 234 }
NaotoMorita 19:3fae66745363 235
NaotoMorita 21:d6079def0473 236
NaotoMorita 44:7d82e63b6a86 237 void solaESKF::fuseErr2Nominal()
NaotoMorita 19:3fae66745363 238 {
NaotoMorita 44:7d82e63b6a86 239 //position
NaotoMorita 44:7d82e63b6a86 240 pihat(1,1) += errState(1,1);
NaotoMorita 44:7d82e63b6a86 241 pihat(2,1) += errState(2,1);
NaotoMorita 44:7d82e63b6a86 242 pihat(3,1) += errState(3,1);
NaotoMorita 44:7d82e63b6a86 243
NaotoMorita 44:7d82e63b6a86 244 //velocity
NaotoMorita 44:7d82e63b6a86 245 vihat(1,1) += errState(4,1);
NaotoMorita 44:7d82e63b6a86 246 vihat(2,1) += errState(5,1);
NaotoMorita 44:7d82e63b6a86 247 vihat(3,1) += errState(6,1);
NaotoMorita 44:7d82e63b6a86 248
NaotoMorita 44:7d82e63b6a86 249 //angle error
NaotoMorita 19:3fae66745363 250 Matrix qerr(4,1);
NaotoMorita 46:15988dc41923 251 qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1);
NaotoMorita 19:3fae66745363 252 qhat = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 253 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 254 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 255
NaotoMorita 44:7d82e63b6a86 256 //acc bias
NaotoMorita 44:7d82e63b6a86 257 accBias(1,1) += errState(10,1);
NaotoMorita 44:7d82e63b6a86 258 accBias(2,1) += errState(11,1);
NaotoMorita 44:7d82e63b6a86 259 accBias(3,1) += errState(12,1);
NaotoMorita 44:7d82e63b6a86 260
NaotoMorita 44:7d82e63b6a86 261 //gyro bias
NaotoMorita 44:7d82e63b6a86 262 gyroBias(1,1) += errState(13,1);
NaotoMorita 44:7d82e63b6a86 263 gyroBias(2,1) += errState(14,1);
NaotoMorita 44:7d82e63b6a86 264 gyroBias(3,1) += errState(15,1);
NaotoMorita 44:7d82e63b6a86 265
NaotoMorita 44:7d82e63b6a86 266 //gravity bias
NaotoMorita 44:7d82e63b6a86 267 gravity(1,1) += errState(16,1);
NaotoMorita 44:7d82e63b6a86 268 gravity(2,1) += errState(17,1);
NaotoMorita 44:7d82e63b6a86 269 gravity(3,1) += errState(18,1);
NaotoMorita 47:2467de40951f 270
NaotoMorita 47:2467de40951f 271 for (int i = 1; i < 19; i++){
NaotoMorita 47:2467de40951f 272 errState(i,1) = 0.0f;
NaotoMorita 47:2467de40951f 273 }
NaotoMorita 44:7d82e63b6a86 274
NaotoMorita 19:3fae66745363 275 }
NaotoMorita 19:3fae66745363 276
NaotoMorita 44:7d82e63b6a86 277 Matrix solaESKF::quatmultiply(Matrix p, Matrix q)
NaotoMorita 19:3fae66745363 278 {
NaotoMorita 44:7d82e63b6a86 279
NaotoMorita 19:3fae66745363 280 Matrix qout(4,1);
NaotoMorita 44:7d82e63b6a86 281 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 282 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 283 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 284 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 285 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout));
NaotoMorita 19:3fae66745363 286 qout *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 287 return qout;
NaotoMorita 19:3fae66745363 288 }
NaotoMorita 19:3fae66745363 289
NaotoMorita 44:7d82e63b6a86 290 void solaESKF::computeDcm(Matrix& dcm, Matrix quat)
NaotoMorita 19:3fae66745363 291 {
NaotoMorita 19:3fae66745363 292
NaotoMorita 44:7d82e63b6a86 293 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 294 dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1));
NaotoMorita 44:7d82e63b6a86 295 dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1));
NaotoMorita 44:7d82e63b6a86 296 dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1));
NaotoMorita 44:7d82e63b6a86 297 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 298 dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1));
NaotoMorita 44:7d82e63b6a86 299 dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1));
NaotoMorita 44:7d82e63b6a86 300 dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1));
NaotoMorita 44:7d82e63b6a86 301 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 302
NaotoMorita 19:3fae66745363 303 }
NaotoMorita 19:3fae66745363 304
NaotoMorita 44:7d82e63b6a86 305 void solaESKF::setQhat(float ex,float ey,float ez)
NaotoMorita 44:7d82e63b6a86 306 {
NaotoMorita 44:7d82e63b6a86 307 float cos_z_2 = cosf(0.5f*ez);
NaotoMorita 44:7d82e63b6a86 308 float cos_y_2 = cosf(0.5f*ey);
NaotoMorita 44:7d82e63b6a86 309 float cos_x_2 = cosf(0.5f*ex);
NaotoMorita 19:3fae66745363 310
NaotoMorita 44:7d82e63b6a86 311 float sin_z_2 = sinf(0.5f*ez);
NaotoMorita 44:7d82e63b6a86 312 float sin_y_2 = sinf(0.5f*ey);
NaotoMorita 44:7d82e63b6a86 313 float sin_x_2 = sinf(0.5f*ex);
NaotoMorita 19:3fae66745363 314
NaotoMorita 19:3fae66745363 315 // and now compute quaternion
NaotoMorita 19:3fae66745363 316 qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 317 qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2;
NaotoMorita 19:3fae66745363 318 qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 319 qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 320 }
NaotoMorita 19:3fae66745363 321
NaotoMorita 47:2467de40951f 322
NaotoMorita 47:2467de40951f 323
NaotoMorita 44:7d82e63b6a86 324 void solaESKF::setGravity(float gx,float gy,float gz)
NaotoMorita 23:1509648c2318 325 {
NaotoMorita 44:7d82e63b6a86 326 gravity(1,1) = gx;
NaotoMorita 44:7d82e63b6a86 327 gravity(2,1) = gy;
NaotoMorita 44:7d82e63b6a86 328 gravity(3,1) = gz;
NaotoMorita 23:1509648c2318 329 }
NaotoMorita 47:2467de40951f 330 Matrix solaESKF::getPihat()
NaotoMorita 47:2467de40951f 331 {
NaotoMorita 47:2467de40951f 332 return pihat;
NaotoMorita 47:2467de40951f 333 }
NaotoMorita 47:2467de40951f 334 Matrix solaESKF::getVihat()
NaotoMorita 47:2467de40951f 335 {
NaotoMorita 47:2467de40951f 336 return vihat;
NaotoMorita 47:2467de40951f 337 }
NaotoMorita 47:2467de40951f 338 Matrix solaESKF::getQhat()
NaotoMorita 47:2467de40951f 339 {
NaotoMorita 47:2467de40951f 340 return qhat;
NaotoMorita 47:2467de40951f 341 }
NaotoMorita 47:2467de40951f 342 Matrix solaESKF::getAccBias()
NaotoMorita 47:2467de40951f 343 {
NaotoMorita 47:2467de40951f 344 return accBias;
NaotoMorita 47:2467de40951f 345 }
NaotoMorita 47:2467de40951f 346 Matrix solaESKF::getGyroBias()
NaotoMorita 47:2467de40951f 347 {
NaotoMorita 47:2467de40951f 348 return gyroBias;
NaotoMorita 47:2467de40951f 349 }
NaotoMorita 47:2467de40951f 350 Matrix solaESKF::getGravity()
NaotoMorita 47:2467de40951f 351 {
NaotoMorita 47:2467de40951f 352 return gravity;
NaotoMorita 47:2467de40951f 353 }
NaotoMorita 47:2467de40951f 354 Matrix solaESKF::getErrState()
NaotoMorita 47:2467de40951f 355 {
NaotoMorita 47:2467de40951f 356 return errState;
NaotoMorita 47:2467de40951f 357 }
NaotoMorita 23:1509648c2318 358
NaotoMorita 47:2467de40951f 359 void solaESKF::setPhatPosition(float val)
NaotoMorita 47:2467de40951f 360 {
NaotoMorita 47:2467de40951f 361 setBlockDiag(Phat,val,1,3);
NaotoMorita 47:2467de40951f 362 }
NaotoMorita 47:2467de40951f 363 void solaESKF::setPhatVelocity(float val)
NaotoMorita 47:2467de40951f 364 {
NaotoMorita 47:2467de40951f 365 setBlockDiag(Phat,val,4,6);
NaotoMorita 47:2467de40951f 366 }
NaotoMorita 47:2467de40951f 367 void solaESKF::setPhatAngleError(float val)
NaotoMorita 47:2467de40951f 368 {
NaotoMorita 47:2467de40951f 369 setBlockDiag(Phat,val,7,9);
NaotoMorita 47:2467de40951f 370 }
NaotoMorita 47:2467de40951f 371 void solaESKF::setPhatAccBias(float val)
NaotoMorita 47:2467de40951f 372 {
NaotoMorita 47:2467de40951f 373 setBlockDiag(Phat,val,10,12);
NaotoMorita 47:2467de40951f 374 }
NaotoMorita 47:2467de40951f 375 void solaESKF::setPhatGyroBias(float val)
NaotoMorita 47:2467de40951f 376 {
NaotoMorita 47:2467de40951f 377 setBlockDiag(Phat,val,13,15);
NaotoMorita 47:2467de40951f 378 }
NaotoMorita 47:2467de40951f 379 void solaESKF::setPhatGravity(float val)
NaotoMorita 47:2467de40951f 380 {
NaotoMorita 47:2467de40951f 381 setBlockDiag(Phat,val,16,18);
NaotoMorita 47:2467de40951f 382 }
NaotoMorita 47:2467de40951f 383
NaotoMorita 47:2467de40951f 384
NaotoMorita 47:2467de40951f 385 void solaESKF::setQVelocity(float val)
NaotoMorita 47:2467de40951f 386 {
NaotoMorita 47:2467de40951f 387 setBlockDiag(Q,val,4,6);
NaotoMorita 47:2467de40951f 388 }
NaotoMorita 47:2467de40951f 389 void solaESKF::setQAngleError(float val)
NaotoMorita 47:2467de40951f 390 {
NaotoMorita 47:2467de40951f 391 setBlockDiag(Q,val,7,9);
NaotoMorita 47:2467de40951f 392 }
NaotoMorita 47:2467de40951f 393 void solaESKF::setQAccBias(float val)
NaotoMorita 47:2467de40951f 394 {
NaotoMorita 47:2467de40951f 395 setBlockDiag(Q,val,10,12);
NaotoMorita 47:2467de40951f 396 }
NaotoMorita 47:2467de40951f 397 void solaESKF::setQGyroBias(float val)
NaotoMorita 47:2467de40951f 398 {
NaotoMorita 47:2467de40951f 399 setBlockDiag(Q,val,13,15);
NaotoMorita 47:2467de40951f 400 }
NaotoMorita 19:3fae66745363 401
NaotoMorita 19:3fae66745363 402
NaotoMorita 44:7d82e63b6a86 403 void solaESKF::setDiag(Matrix& mat, float val){
NaotoMorita 44:7d82e63b6a86 404 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 44:7d82e63b6a86 405 mat(i,i) = val;
NaotoMorita 22:7d84b8bc20b4 406 }
NaotoMorita 22:7d84b8bc20b4 407 }
NaotoMorita 22:7d84b8bc20b4 408
NaotoMorita 45:df4618814803 409 void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){
NaotoMorita 44:7d82e63b6a86 410 for (int i = startIndex; i < endIndex+1; i++){
NaotoMorita 44:7d82e63b6a86 411 mat(i,i) = val;
NaotoMorita 22:7d84b8bc20b4 412 }
NaotoMorita 22:7d84b8bc20b4 413 }
osaka 51:a5af3b280d23 414
osaka 51:a5af3b280d23 415 void solaESKF::setPihat(float pi_x, float pi_y, float pi_z)
osaka 51:a5af3b280d23 416 {
osaka 51:a5af3b280d23 417 pihat << pi_x << pi_y << pi_z;
osaka 51:a5af3b280d23 418 }