HAPSRG
Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.cpp@78:e36a7b844fb5, 2021-12-06 (annotated)
- Committer:
- cocorlow
- Date:
- Mon Dec 06 08:24:13 2021 +0000
- Revision:
- 78:e36a7b844fb5
- Parent:
- 77:780ce6556041
- Child:
- 79:365ea9277167
Eigen
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| NaotoMorita | 44:7d82e63b6a86 | 1 | #include "solaESKF.hpp" |
| NaotoMorita | 54:cd514d9d4b19 | 2 | |
| NaotoMorita | 44:7d82e63b6a86 | 3 | solaESKF::solaESKF() |
| cocorlow | 78:e36a7b844fb5 | 4 | // :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) |
| cocorlow | 78:e36a7b844fb5 | 5 | :errState(18,1),Phat(18,18),Q(18,18) |
| NaotoMorita | 62:5519d34eb6e8 | 6 | { |
| cocorlow | 78:e36a7b844fb5 | 7 | pihat << 0.0f, 0.0f, 0.0f; |
| cocorlow | 78:e36a7b844fb5 | 8 | vihat << 0.0f, 0.0f, 0.0f; |
| cocorlow | 78:e36a7b844fb5 | 9 | qhat << 1.0f, 0.0f, 0.0f, 0.0f; |
| cocorlow | 78:e36a7b844fb5 | 10 | accBias << 0.0f, 0.0f, 0.0f; |
| cocorlow | 78:e36a7b844fb5 | 11 | gyroBias << 0.0f, 0.0f, 0.0f; |
| cocorlow | 78:e36a7b844fb5 | 12 | gravity << 0.0f, 0.0, 9.8f; |
| NaotoMorita | 62:5519d34eb6e8 | 13 | |
| cocorlow | 78:e36a7b844fb5 | 14 | nState = 18; |
| cocorlow | 78:e36a7b844fb5 | 15 | errState = VectorXf::Zero(nState); |
| cocorlow | 78:e36a7b844fb5 | 16 | Phat = MatrixXf::Zero(nState, nState); |
| cocorlow | 78:e36a7b844fb5 | 17 | Q = MatrixXf::Zero(nState, nState); |
| NaotoMorita | 62:5519d34eb6e8 | 18 | |
| cocorlow | 78:e36a7b844fb5 | 19 | setBlockDiag(Phat, 0.1f, 0, 2);//position |
| cocorlow | 78:e36a7b844fb5 | 20 | setBlockDiag(Phat, 0.1f, 3, 5);//velocity |
| cocorlow | 78:e36a7b844fb5 | 21 | setBlockDiag(Phat, 0.1f, 6, 8);//angle error |
| cocorlow | 78:e36a7b844fb5 | 22 | setBlockDiag(Phat, 0.1f, 9, 11);//acc bias |
| cocorlow | 78:e36a7b844fb5 | 23 | setBlockDiag(Phat, 0.1f, 12, 14);//gyro bias |
| cocorlow | 78:e36a7b844fb5 | 24 | setBlockDiag(Phat, 0.00000001f, 15, 17);//gravity |
| cocorlow | 78:e36a7b844fb5 | 25 | setBlockDiag(Q, 0.00025f, 3, 5);//velocity |
| cocorlow | 78:e36a7b844fb5 | 26 | setBlockDiag(Q, 0.005f/57.0f, 6, 8);//angle error |
| cocorlow | 78:e36a7b844fb5 | 27 | setBlockDiag(Q, 0.001f, 9, 11);//acc bias |
| cocorlow | 78:e36a7b844fb5 | 28 | setBlockDiag(Q, 0.001f, 12, 14);//gyro bias//positionとgravityはQ項なし |
| NaotoMorita | 19:3fae66745363 | 29 | } |
| NaotoMorita | 19:3fae66745363 | 30 | |
| NaotoMorita | 47:2467de40951f | 31 | |
| cocorlow | 78:e36a7b844fb5 | 32 | void solaESKF::updateNominal(Vector3f acc, Vector3f gyro,float att_dt) |
| NaotoMorita | 19:3fae66745363 | 33 | { |
| cocorlow | 78:e36a7b844fb5 | 34 | Vector3f gyrom = gyro - gyroBias; |
| cocorlow | 78:e36a7b844fb5 | 35 | Vector3f accm = acc - accBias; |
| NaotoMorita | 44:7d82e63b6a86 | 36 | |
| cocorlow | 78:e36a7b844fb5 | 37 | Vector4f qint; |
| cocorlow | 78:e36a7b844fb5 | 38 | qint << 1.0f, 0.5f*gyrom(0)*att_dt, 0.5f*gyrom(1)*att_dt, 0.5f*gyrom(2)*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 39 | qhat = quatmultiply(qhat, qint); |
| cocorlow | 78:e36a7b844fb5 | 40 | qhat.normalize(); |
| NaotoMorita | 23:1509648c2318 | 41 | |
| cocorlow | 78:e36a7b844fb5 | 42 | Matrix3f dcm; |
| NaotoMorita | 23:1509648c2318 | 43 | computeDcm(dcm, qhat); |
| cocorlow | 78:e36a7b844fb5 | 44 | Vector3f accned = dcm*accm + gravity; |
| NaotoMorita | 44:7d82e63b6a86 | 45 | vihat += accned*att_dt; |
| NaotoMorita | 44:7d82e63b6a86 | 46 | |
| cocorlow | 78:e36a7b844fb5 | 47 | pihat += vihat*att_dt + 0.5f*accned*att_dt*att_dt; |
| NaotoMorita | 19:3fae66745363 | 48 | } |
| NaotoMorita | 19:3fae66745363 | 49 | |
| cocorlow | 78:e36a7b844fb5 | 50 | void solaESKF::updateErrState(Vector3f acc, Vector3f gyro, float att_dt) |
| NaotoMorita | 23:1509648c2318 | 51 | { |
| cocorlow | 78:e36a7b844fb5 | 52 | Vector3f gyrom = gyro - gyroBias; |
| cocorlow | 78:e36a7b844fb5 | 53 | Vector3f accm = acc - accBias; |
| NaotoMorita | 75:e2c825cdc511 | 54 | |
| cocorlow | 78:e36a7b844fb5 | 55 | Matrix3f dcm; |
| NaotoMorita | 23:1509648c2318 | 56 | computeDcm(dcm, qhat); |
| cocorlow | 78:e36a7b844fb5 | 57 | // Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1))*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 58 | Matrix3f a2v = -dcm*solaESKF::Matrixcross(accm)*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 59 | Matrix3f a2v2 = 0.5f*a2v*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 60 | |
| cocorlow | 78:e36a7b844fb5 | 61 | MatrixXf Fx(nState,nState); |
| NaotoMorita | 44:7d82e63b6a86 | 62 | //position |
| cocorlow | 78:e36a7b844fb5 | 63 | Fx(0,0) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 64 | Fx(1,1) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 65 | Fx(2,2) = 1.0f; |
| cocorlow | 78:e36a7b844fb5 | 66 | Fx(0,3) = 1.0f*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 67 | Fx(1,4) = 1.0f*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 68 | Fx(2,5) = 1.0f*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 69 | for (int i = 0; i < 3; i++){ |
| cocorlow | 78:e36a7b844fb5 | 70 | for (int j = 0; j < 3; j++){ |
| NaotoMorita | 75:e2c825cdc511 | 71 | Fx(i,j+6) = a2v2(i,j); |
| NaotoMorita | 75:e2c825cdc511 | 72 | Fx(i,j+9) = -0.5f*dcm(i,j)*att_dt*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 73 | } |
| NaotoMorita | 75:e2c825cdc511 | 74 | Fx(i,i+15) = 0.5f*att_dt*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 75 | } |
| NaotoMorita | 75:e2c825cdc511 | 76 | |
| NaotoMorita | 75:e2c825cdc511 | 77 | |
| NaotoMorita | 75:e2c825cdc511 | 78 | //velocity |
| cocorlow | 78:e36a7b844fb5 | 79 | Fx(3,3) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 80 | Fx(4,4) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 81 | Fx(5,5) = 1.0f; |
| cocorlow | 78:e36a7b844fb5 | 82 | for (int i = 0; i < 3; i++){ |
| cocorlow | 78:e36a7b844fb5 | 83 | for (int j = 0; j < 3; j++){ |
| NaotoMorita | 75:e2c825cdc511 | 84 | Fx(i+3,j+6) = a2v(i,j); |
| NaotoMorita | 75:e2c825cdc511 | 85 | Fx(i+3,j+9) = -dcm(i,j)*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 86 | Fx(i+3,j+12) = -a2v2(i,j); |
| NaotoMorita | 23:1509648c2318 | 87 | } |
| NaotoMorita | 23:1509648c2318 | 88 | } |
| cocorlow | 78:e36a7b844fb5 | 89 | Fx(3,15) = 1.0f*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 90 | Fx(4,16) = 1.0f*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 91 | Fx(5,17) = 1.0f*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 92 | |
| NaotoMorita | 44:7d82e63b6a86 | 93 | //angulat error |
| cocorlow | 78:e36a7b844fb5 | 94 | Fx(6,6) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 95 | Fx(7,7) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 96 | Fx(8,8) = 1.0f; |
| cocorlow | 78:e36a7b844fb5 | 97 | Fx(6,7) = gyrom(2)*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 98 | Fx(6,8) = -gyrom(1)*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 99 | Fx(7,6) = -gyrom(2)*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 100 | Fx(7,8) = gyrom(0)*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 101 | Fx(8,6) = gyrom(1)*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 102 | Fx(8,7) = -gyrom(0)*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 103 | Fx(6,12) = -1.0f*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 104 | Fx(7,13) = -1.0f*att_dt; |
| NaotoMorita | 75:e2c825cdc511 | 105 | Fx(8,14) = -1.0f*att_dt; |
| NaotoMorita | 47:2467de40951f | 106 | |
| NaotoMorita | 75:e2c825cdc511 | 107 | //acc bias |
| cocorlow | 78:e36a7b844fb5 | 108 | Fx(9,9) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 109 | Fx(10,10) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 110 | Fx(11,11) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 111 | |
| NaotoMorita | 75:e2c825cdc511 | 112 | //gyro bias |
| cocorlow | 78:e36a7b844fb5 | 113 | Fx(12,12) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 114 | Fx(13,13) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 115 | Fx(14,14) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 116 | |
| NaotoMorita | 75:e2c825cdc511 | 117 | //gravity bias |
| cocorlow | 78:e36a7b844fb5 | 118 | Fx(15,15) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 119 | Fx(16,16) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 120 | Fx(17,17) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 121 | |
| NaotoMorita | 75:e2c825cdc511 | 122 | errState = Fx * errState; |
| cocorlow | 78:e36a7b844fb5 | 123 | Phat = Fx*Phat*Fx.transpose(); |
| cocorlow | 78:e36a7b844fb5 | 124 | for (int i = 0; i < nState; i++){ |
| cocorlow | 78:e36a7b844fb5 | 125 | if(i>2 && i<9){ |
| NaotoMorita | 75:e2c825cdc511 | 126 | Phat(i,i) += Q(i,i)*att_dt; |
| cocorlow | 78:e36a7b844fb5 | 127 | }else if(i>8 && i<15){ |
| NaotoMorita | 75:e2c825cdc511 | 128 | Phat(i,i) += Q(i,i)* att_dt*att_dt; |
| NaotoMorita | 59:03fe5e16a33c | 129 | } |
| NaotoMorita | 59:03fe5e16a33c | 130 | } |
| NaotoMorita | 25:07ac5c6cd61c | 131 | } |
| NaotoMorita | 25:07ac5c6cd61c | 132 | |
| cocorlow | 78:e36a7b844fb5 | 133 | void solaESKF::updateAcc(Vector3f acc, Matrix3f R) |
| NaotoMorita | 46:15988dc41923 | 134 | { |
| cocorlow | 78:e36a7b844fb5 | 135 | Vector3f accm = acc - accBias; |
| cocorlow | 78:e36a7b844fb5 | 136 | Matrix3f dcm; |
| NaotoMorita | 56:c10f1168bd4a | 137 | computeDcm(dcm, qhat); |
| cocorlow | 78:e36a7b844fb5 | 138 | Matrix3f tdcm = dcm.transpose(); |
| cocorlow | 78:e36a7b844fb5 | 139 | Vector3f tdcm_g = tdcm*gravity; |
| cocorlow | 78:e36a7b844fb5 | 140 | Matrix3f rotgrav = solaESKF::Matrixcross(tdcm_g); |
| NaotoMorita | 46:15988dc41923 | 141 | |
| cocorlow | 78:e36a7b844fb5 | 142 | MatrixXf H(3,nState); |
| cocorlow | 78:e36a7b844fb5 | 143 | for (int i = 0; i < 3; i++){ |
| cocorlow | 78:e36a7b844fb5 | 144 | for (int j = 0; j < 3; j++){ |
| NaotoMorita | 59:03fe5e16a33c | 145 | H(i,j+6) = rotgrav(i,j); |
| NaotoMorita | 74:f5fe7fecbd3c | 146 | H(i,j+15) = tdcm(i,j); |
| NaotoMorita | 46:15988dc41923 | 147 | } |
| NaotoMorita | 58:93ba28cf5cb3 | 148 | } |
| NaotoMorita | 56:c10f1168bd4a | 149 | |
| cocorlow | 78:e36a7b844fb5 | 150 | H(0,9) = -1.0f; |
| NaotoMorita | 46:15988dc41923 | 151 | H(1,10) = -1.0f; |
| NaotoMorita | 46:15988dc41923 | 152 | H(2,11) = -1.0f; |
| NaotoMorita | 59:03fe5e16a33c | 153 | |
| cocorlow | 78:e36a7b844fb5 | 154 | // Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
| cocorlow | 78:e36a7b844fb5 | 155 | MatrixXf K = (Phat*H.transpose())*(H*Phat*H.transpose()+R).inverse(); |
| cocorlow | 78:e36a7b844fb5 | 156 | Vector3f zacc = -accm-tdcm*gravity; |
| cocorlow | 78:e36a7b844fb5 | 157 | Vector3f z; |
| cocorlow | 78:e36a7b844fb5 | 158 | z = zacc; |
| NaotoMorita | 61:5e5c4fe12440 | 159 | errState = K * z; |
| cocorlow | 78:e36a7b844fb5 | 160 | Phat = (MatrixXf::Identity(nState, nState)-K*H)*Phat; |
| NaotoMorita | 61:5e5c4fe12440 | 161 | |
| NaotoMorita | 61:5e5c4fe12440 | 162 | fuseErr2Nominal(); |
| NaotoMorita | 61:5e5c4fe12440 | 163 | } |
| NaotoMorita | 70:d12e46fdc2f0 | 164 | |
| cocorlow | 78:e36a7b844fb5 | 165 | void solaESKF::updateHeading(float a, Matrix3f R) |
| NaotoMorita | 70:d12e46fdc2f0 | 166 | { |
| cocorlow | 78:e36a7b844fb5 | 167 | float q0 = qhat(0); |
| cocorlow | 78:e36a7b844fb5 | 168 | float q1 = qhat(1); |
| cocorlow | 78:e36a7b844fb5 | 169 | float q2 = qhat(2); |
| cocorlow | 78:e36a7b844fb5 | 170 | float q3 = qhat(3); |
| NaotoMorita | 73:5770a0d470c0 | 171 | |
| NaotoMorita | 73:5770a0d470c0 | 172 | bool canUseA = false; |
| NaotoMorita | 73:5770a0d470c0 | 173 | const float SA0 = 2*q3; |
| NaotoMorita | 73:5770a0d470c0 | 174 | const float SA1 = 2*q2; |
| NaotoMorita | 73:5770a0d470c0 | 175 | const float SA2 = SA0*q0 + SA1*q1; |
| NaotoMorita | 73:5770a0d470c0 | 176 | const float SA3 = q0*q0 + q1*q1 - q2*q2 - q3*q3; |
| NaotoMorita | 73:5770a0d470c0 | 177 | float SA4, SA5_inv; |
| NaotoMorita | 73:5770a0d470c0 | 178 | if ((SA3*SA3) > 1e-6f) { |
| NaotoMorita | 73:5770a0d470c0 | 179 | SA4 = 1.0F/(SA3*SA3); |
| NaotoMorita | 73:5770a0d470c0 | 180 | SA5_inv = SA2*SA2*SA4 + 1; |
| cocorlow | 78:e36a7b844fb5 | 181 | canUseA = std::abs(SA5_inv) > 1e-6f; |
| NaotoMorita | 73:5770a0d470c0 | 182 | } |
| NaotoMorita | 73:5770a0d470c0 | 183 | |
| NaotoMorita | 73:5770a0d470c0 | 184 | bool canUseB = false; |
| NaotoMorita | 73:5770a0d470c0 | 185 | const float SB0 = 2*q0; |
| NaotoMorita | 73:5770a0d470c0 | 186 | const float SB1 = 2*q1; |
| NaotoMorita | 73:5770a0d470c0 | 187 | const float SB2 = SB0*q3 + SB1*q2; |
| NaotoMorita | 73:5770a0d470c0 | 188 | const float SB4 = q0*q0 + q1*q1 - q2*q2 - q3*q3; |
| NaotoMorita | 73:5770a0d470c0 | 189 | float SB3, SB5_inv; |
| NaotoMorita | 73:5770a0d470c0 | 190 | if ((SB2*SB2) > 1e-6f) { |
| NaotoMorita | 73:5770a0d470c0 | 191 | SB3 = 1.0F/(SB2*SB2); |
| NaotoMorita | 73:5770a0d470c0 | 192 | SB5_inv = SB3*SB4*SB4 + 1; |
| cocorlow | 78:e36a7b844fb5 | 193 | canUseB = std::abs(SB5_inv) > 1e-6f; |
| NaotoMorita | 73:5770a0d470c0 | 194 | } |
| NaotoMorita | 73:5770a0d470c0 | 195 | |
| cocorlow | 78:e36a7b844fb5 | 196 | Matrix<float, 1, 4> Hh; |
| NaotoMorita | 73:5770a0d470c0 | 197 | |
| cocorlow | 78:e36a7b844fb5 | 198 | if (canUseA && (!canUseB || std::abs(SA5_inv) >= std::abs(SB5_inv))) { |
| NaotoMorita | 73:5770a0d470c0 | 199 | const float SA5 = 1.0F/SA5_inv; |
| NaotoMorita | 73:5770a0d470c0 | 200 | const float SA6 = 1.0F/SA3; |
| NaotoMorita | 73:5770a0d470c0 | 201 | const float SA7 = SA2*SA4; |
| NaotoMorita | 73:5770a0d470c0 | 202 | const float SA8 = 2*SA7; |
| NaotoMorita | 73:5770a0d470c0 | 203 | const float SA9 = 2*SA6; |
| NaotoMorita | 73:5770a0d470c0 | 204 | |
| cocorlow | 78:e36a7b844fb5 | 205 | Hh(0,0) = SA5*(SA0*SA6 - SA8*q0); |
| cocorlow | 78:e36a7b844fb5 | 206 | Hh(0,1) = SA5*(SA1*SA6 - SA8*q1); |
| cocorlow | 78:e36a7b844fb5 | 207 | Hh(0,2) = SA5*(SA1*SA7 + SA9*q1); |
| cocorlow | 78:e36a7b844fb5 | 208 | Hh(0,3) = SA5*(SA0*SA7 + SA9*q0); |
| cocorlow | 78:e36a7b844fb5 | 209 | } else if (canUseB && (!canUseA || std::abs(SB5_inv) > std::abs(SA5_inv))) { |
| NaotoMorita | 73:5770a0d470c0 | 210 | const float SB5 = 1.0F/SB5_inv; |
| NaotoMorita | 73:5770a0d470c0 | 211 | const float SB6 = 1.0F/SB2; |
| NaotoMorita | 73:5770a0d470c0 | 212 | const float SB7 = SB3*SB4; |
| NaotoMorita | 73:5770a0d470c0 | 213 | const float SB8 = 2*SB7; |
| NaotoMorita | 73:5770a0d470c0 | 214 | const float SB9 = 2*SB6; |
| NaotoMorita | 73:5770a0d470c0 | 215 | |
| cocorlow | 78:e36a7b844fb5 | 216 | Hh(0,0) = -SB5*(SB0*SB6 - SB8*q3); |
| cocorlow | 78:e36a7b844fb5 | 217 | Hh(0,1) = -SB5*(SB1*SB6 - SB8*q2); |
| cocorlow | 78:e36a7b844fb5 | 218 | Hh(0,2) = -SB5*(-SB1*SB7 - SB9*q2); |
| cocorlow | 78:e36a7b844fb5 | 219 | Hh(0,3) = -SB5*(-SB0*SB7 - SB9*q3); |
| NaotoMorita | 73:5770a0d470c0 | 220 | } else { |
| NaotoMorita | 73:5770a0d470c0 | 221 | return; |
| NaotoMorita | 73:5770a0d470c0 | 222 | } |
| NaotoMorita | 70:d12e46fdc2f0 | 223 | |
| cocorlow | 78:e36a7b844fb5 | 224 | Matrix<float, 4, 3> Hdq; |
| cocorlow | 78:e36a7b844fb5 | 225 | Hdq << -0.5f*q1, -0.5f*q2, -0.5f*q3, |
| cocorlow | 78:e36a7b844fb5 | 226 | 0.5f*q0, -0.5f*q3, 0.5f*q2, |
| cocorlow | 78:e36a7b844fb5 | 227 | 0.5f*q3, 0.5f*q0, -0.5f*q1, |
| cocorlow | 78:e36a7b844fb5 | 228 | -0.5f*q2, 0.5f*q1, 0.5f*q0; |
| NaotoMorita | 70:d12e46fdc2f0 | 229 | |
| cocorlow | 78:e36a7b844fb5 | 230 | Matrix<float, 1, 3> Hpart = Hh*Hdq; |
| cocorlow | 78:e36a7b844fb5 | 231 | MatrixXf H(1,nState); |
| cocorlow | 78:e36a7b844fb5 | 232 | for(int j=0; j<3; j++){ |
| cocorlow | 78:e36a7b844fb5 | 233 | H(0,j+6) = Hpart(0,j); |
| NaotoMorita | 70:d12e46fdc2f0 | 234 | } |
| NaotoMorita | 70:d12e46fdc2f0 | 235 | |
| cocorlow | 78:e36a7b844fb5 | 236 | const float psi = std::atan2(qhat(1)*qhat(2) + qhat(0)*qhat(3), 0.5f - qhat(2)*qhat(2) - qhat(3)*qhat(3)); |
| cocorlow | 78:e36a7b844fb5 | 237 | Matrix<float, 1, 1> z; |
| cocorlow | 78:e36a7b844fb5 | 238 | z << std::atan2(std::sin(a-psi), std::cos(a-psi)); |
| cocorlow | 78:e36a7b844fb5 | 239 | MatrixXf K = (Phat*H.transpose())*(H*Phat*H.transpose()+R).inverse(); |
| NaotoMorita | 70:d12e46fdc2f0 | 240 | errState = K * z; |
| cocorlow | 78:e36a7b844fb5 | 241 | Phat = (MatrixXf::Identity(nState, nState)-K*H)*Phat; |
| NaotoMorita | 70:d12e46fdc2f0 | 242 | |
| NaotoMorita | 70:d12e46fdc2f0 | 243 | fuseErr2Nominal(); |
| NaotoMorita | 70:d12e46fdc2f0 | 244 | } |
| cocorlow | 78:e36a7b844fb5 | 245 | void solaESKF::updateGPSPosition(Vector3f posgps,float palt,Matrix3f R) |
| NaotoMorita | 65:c25d7810de44 | 246 | { |
| cocorlow | 78:e36a7b844fb5 | 247 | MatrixXf H(3,nState); |
| cocorlow | 78:e36a7b844fb5 | 248 | H(0,0) = 1.0f; |
| NaotoMorita | 74:f5fe7fecbd3c | 249 | H(1,1) = 1.0f; |
| NaotoMorita | 74:f5fe7fecbd3c | 250 | H(2,2) = 1.0f; |
| NaotoMorita | 65:c25d7810de44 | 251 | |
| NaotoMorita | 74:f5fe7fecbd3c | 252 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
| NaotoMorita | 74:f5fe7fecbd3c | 253 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
| cocorlow | 78:e36a7b844fb5 | 254 | MatrixXf K = (Phat*H.transpose())*(H*Phat*H.transpose()+R).inverse(); |
| cocorlow | 78:e36a7b844fb5 | 255 | Vector3f z; |
| cocorlow | 78:e36a7b844fb5 | 256 | z << posgps(0)-pihat(0), posgps(1)-pihat(1), palt - pihat(2); |
| NaotoMorita | 65:c25d7810de44 | 257 | errState = K * z; |
| cocorlow | 78:e36a7b844fb5 | 258 | Phat = (MatrixXf::Identity(nState, nState)-K*H)*Phat; |
| NaotoMorita | 74:f5fe7fecbd3c | 259 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
| NaotoMorita | 74:f5fe7fecbd3c | 260 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
| NaotoMorita | 65:c25d7810de44 | 261 | fuseErr2Nominal(); |
| NaotoMorita | 65:c25d7810de44 | 262 | } |
| cocorlow | 78:e36a7b844fb5 | 263 | void solaESKF::updateGPSVelocity(Vector3f velgps,Matrix3f R) |
| NaotoMorita | 75:e2c825cdc511 | 264 | { |
| cocorlow | 78:e36a7b844fb5 | 265 | MatrixXf H(3,nState); |
| cocorlow | 78:e36a7b844fb5 | 266 | H(0,3) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 267 | H(1,4) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 268 | H(2,5) = 1.0f; |
| NaotoMorita | 75:e2c825cdc511 | 269 | |
| NaotoMorita | 75:e2c825cdc511 | 270 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
| NaotoMorita | 75:e2c825cdc511 | 271 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
| cocorlow | 78:e36a7b844fb5 | 272 | MatrixXf K = (Phat*H.transpose())*(H*Phat*H.transpose()+R).inverse(); |
| cocorlow | 78:e36a7b844fb5 | 273 | Vector3f z; |
| cocorlow | 78:e36a7b844fb5 | 274 | z << velgps(0)-vihat(0), velgps(1)-vihat(1), velgps(2)-vihat(2); |
| NaotoMorita | 75:e2c825cdc511 | 275 | errState = K * z; |
| cocorlow | 78:e36a7b844fb5 | 276 | Phat = (MatrixXf::Identity(nState, nState)-K*H)*Phat; |
| NaotoMorita | 75:e2c825cdc511 | 277 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
| NaotoMorita | 75:e2c825cdc511 | 278 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
| NaotoMorita | 75:e2c825cdc511 | 279 | fuseErr2Nominal(); |
| NaotoMorita | 75:e2c825cdc511 | 280 | } |
| NaotoMorita | 65:c25d7810de44 | 281 | |
| cocorlow | 78:e36a7b844fb5 | 282 | void solaESKF::updateGPS(Vector3f posgps, float palt, Vector3f velgps, MatrixXf R) |
| NaotoMorita | 58:93ba28cf5cb3 | 283 | { |
| cocorlow | 78:e36a7b844fb5 | 284 | MatrixXf H(5, nState); |
| cocorlow | 78:e36a7b844fb5 | 285 | H(0,0) = 1.0f; |
| NaotoMorita | 46:15988dc41923 | 286 | H(1,1) = 1.0f; |
| NaotoMorita | 46:15988dc41923 | 287 | H(2,2) = 1.0f; |
| NaotoMorita | 56:c10f1168bd4a | 288 | H(3,3) = 1.0f; |
| NaotoMorita | 56:c10f1168bd4a | 289 | H(4,4) = 1.0f; |
| cocorlow | 78:e36a7b844fb5 | 290 | MatrixXf K = (Phat*H.transpose())*(H*Phat*H.transpose()+R).inverse(); |
| cocorlow | 78:e36a7b844fb5 | 291 | Matrix<float, 5, 1> z; |
| cocorlow | 78:e36a7b844fb5 | 292 | z << posgps(0)-pihat(0), posgps(1)-pihat(1), palt-pihat(2), velgps(0)-vihat(0), velgps(1)-vihat(1); |
| NaotoMorita | 58:93ba28cf5cb3 | 293 | errState = K * z; |
| cocorlow | 78:e36a7b844fb5 | 294 | Phat = (MatrixXf::Identity(nState, nState)-K*H)*Phat; |
| NaotoMorita | 58:93ba28cf5cb3 | 295 | fuseErr2Nominal(); |
| NaotoMorita | 58:93ba28cf5cb3 | 296 | } |
| NaotoMorita | 58:93ba28cf5cb3 | 297 | |
| NaotoMorita | 46:15988dc41923 | 298 | |
| cocorlow | 78:e36a7b844fb5 | 299 | Vector3f solaESKF::computeAngles() |
| NaotoMorita | 25:07ac5c6cd61c | 300 | { |
| NaotoMorita | 25:07ac5c6cd61c | 301 | |
| cocorlow | 78:e36a7b844fb5 | 302 | Vector3f euler; |
| cocorlow | 78:e36a7b844fb5 | 303 | euler(0) = std::atan2(qhat(0)*qhat(1) + qhat(2)*qhat(3), 0.5f - qhat(1)*qhat(1) - qhat(2)*qhat(2)); |
| cocorlow | 78:e36a7b844fb5 | 304 | euler(1) = std::asin(-2.0f * (qhat(1)*qhat(3) - qhat(0)*qhat(2))); |
| cocorlow | 78:e36a7b844fb5 | 305 | euler(2) = std::atan2(qhat(1)*qhat(2) + qhat(0)*qhat(3), 0.5f - qhat(2)*qhat(2) - qhat(3)*qhat(3)); |
| NaotoMorita | 44:7d82e63b6a86 | 306 | return euler; |
| NaotoMorita | 19:3fae66745363 | 307 | } |
| NaotoMorita | 19:3fae66745363 | 308 | |
| NaotoMorita | 21:d6079def0473 | 309 | |
| NaotoMorita | 44:7d82e63b6a86 | 310 | void solaESKF::fuseErr2Nominal() |
| NaotoMorita | 19:3fae66745363 | 311 | { |
| NaotoMorita | 44:7d82e63b6a86 | 312 | //position |
| cocorlow | 78:e36a7b844fb5 | 313 | pihat(0) += errState(0); |
| cocorlow | 78:e36a7b844fb5 | 314 | pihat(1) += errState(1); |
| cocorlow | 78:e36a7b844fb5 | 315 | pihat(2) += errState(2); |
| NaotoMorita | 44:7d82e63b6a86 | 316 | |
| NaotoMorita | 44:7d82e63b6a86 | 317 | //velocity |
| cocorlow | 78:e36a7b844fb5 | 318 | vihat(0) += errState(3); |
| cocorlow | 78:e36a7b844fb5 | 319 | vihat(1) += errState(4); |
| cocorlow | 78:e36a7b844fb5 | 320 | vihat(2) += errState(5); |
| NaotoMorita | 44:7d82e63b6a86 | 321 | |
| NaotoMorita | 44:7d82e63b6a86 | 322 | //angle error |
| cocorlow | 78:e36a7b844fb5 | 323 | Vector4f qerr; |
| cocorlow | 78:e36a7b844fb5 | 324 | qerr << 1.0f, 0.5f*errState(6), 0.5f*errState(7), 0.5f*errState(8); |
| NaotoMorita | 19:3fae66745363 | 325 | qhat = quatmultiply(qhat, qerr); |
| cocorlow | 78:e36a7b844fb5 | 326 | qhat.normalize(); |
| NaotoMorita | 23:1509648c2318 | 327 | |
| NaotoMorita | 44:7d82e63b6a86 | 328 | //acc bias |
| cocorlow | 78:e36a7b844fb5 | 329 | accBias(0) += errState(9); |
| cocorlow | 78:e36a7b844fb5 | 330 | accBias(1) += errState(10); |
| cocorlow | 78:e36a7b844fb5 | 331 | accBias(2) += errState(11); |
| NaotoMorita | 44:7d82e63b6a86 | 332 | |
| NaotoMorita | 44:7d82e63b6a86 | 333 | //gyro bias |
| cocorlow | 78:e36a7b844fb5 | 334 | gyroBias(0) += errState(12); |
| cocorlow | 78:e36a7b844fb5 | 335 | gyroBias(1) += errState(13); |
| cocorlow | 78:e36a7b844fb5 | 336 | gyroBias(2) += errState(14); |
| NaotoMorita | 44:7d82e63b6a86 | 337 | |
| NaotoMorita | 44:7d82e63b6a86 | 338 | //gravity bias |
| cocorlow | 78:e36a7b844fb5 | 339 | gravity(0) += errState(15); |
| cocorlow | 78:e36a7b844fb5 | 340 | gravity(1) += errState(16); |
| cocorlow | 78:e36a7b844fb5 | 341 | gravity(2) += errState(17); |
| NaotoMorita | 62:5519d34eb6e8 | 342 | |
| cocorlow | 78:e36a7b844fb5 | 343 | errState = VectorXf::Zero(nState); |
| NaotoMorita | 19:3fae66745363 | 344 | } |
| NaotoMorita | 19:3fae66745363 | 345 | |
| cocorlow | 78:e36a7b844fb5 | 346 | Vector4f solaESKF::quatmultiply(Vector4f p, Vector4f q) |
| NaotoMorita | 19:3fae66745363 | 347 | { |
| cocorlow | 78:e36a7b844fb5 | 348 | Vector4f qout; |
| cocorlow | 78:e36a7b844fb5 | 349 | qout(0) = p(0)*q(0) - p(1)*q(1) - p(2)*q(2) - p(3)*q(3); |
| cocorlow | 78:e36a7b844fb5 | 350 | qout(1) = p(0)*q(1) + p(1)*q(0) + p(2)*q(3) - p(3)*q(2); |
| cocorlow | 78:e36a7b844fb5 | 351 | qout(2) = p(0)*q(2) - p(1)*q(3) + p(2)*q(0) + p(3)*q(1); |
| cocorlow | 78:e36a7b844fb5 | 352 | qout(3) = p(0)*q(3) + p(1)*q(2) - p(2)*q(1) + p(3)*q(0); |
| cocorlow | 78:e36a7b844fb5 | 353 | // qout.normalize(); |
| NaotoMorita | 19:3fae66745363 | 354 | return qout; |
| NaotoMorita | 19:3fae66745363 | 355 | } |
| NaotoMorita | 19:3fae66745363 | 356 | |
| cocorlow | 78:e36a7b844fb5 | 357 | void solaESKF::computeDcm(Matrix3f& dcm, Vector4f quat) |
| NaotoMorita | 19:3fae66745363 | 358 | { |
| cocorlow | 78:e36a7b844fb5 | 359 | // 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); |
| cocorlow | 78:e36a7b844fb5 | 360 | // dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1)); |
| cocorlow | 78:e36a7b844fb5 | 361 | // dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1)); |
| cocorlow | 78:e36a7b844fb5 | 362 | // dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1)); |
| cocorlow | 78:e36a7b844fb5 | 363 | // 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); |
| cocorlow | 78:e36a7b844fb5 | 364 | // dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1)); |
| cocorlow | 78:e36a7b844fb5 | 365 | // dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1)); |
| cocorlow | 78:e36a7b844fb5 | 366 | // dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1)); |
| cocorlow | 78:e36a7b844fb5 | 367 | // 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); |
| cocorlow | 78:e36a7b844fb5 | 368 | |
| cocorlow | 78:e36a7b844fb5 | 369 | dcm(0,0) = quat(0)*quat(0) + quat(1)*quat(1) - quat(2)*quat(2) - quat(3)*quat(3); |
| cocorlow | 78:e36a7b844fb5 | 370 | dcm(0,1) = 2.0f*(quat(1)*quat(2) - quat(0)*quat(3)); |
| cocorlow | 78:e36a7b844fb5 | 371 | dcm(0,2) = 2.0f*(quat(1)*quat(3) + quat(0)*quat(2)); |
| cocorlow | 78:e36a7b844fb5 | 372 | dcm(1,0) = 2.0f*(quat(1)*quat(2) + quat(0)*quat(3)); |
| cocorlow | 78:e36a7b844fb5 | 373 | dcm(1,1) = quat(0)*quat(0) - quat(1)*quat(1) + quat(2)*quat(2) - quat(3)*quat(3); |
| cocorlow | 78:e36a7b844fb5 | 374 | dcm(1,2) = 2.0f*(quat(2)*quat(3) - quat(0)*quat(1)); |
| cocorlow | 78:e36a7b844fb5 | 375 | dcm(2,0) = 2.0f*(quat(1)*quat(3) - quat(0)*quat(2)); |
| cocorlow | 78:e36a7b844fb5 | 376 | dcm(2,1) = 2.0f*(quat(2)*quat(3) + quat(0)*quat(1)); |
| cocorlow | 78:e36a7b844fb5 | 377 | dcm(2,2) = quat(0)*quat(0) - quat(1)*quat(1) - quat(2)*quat(2) + quat(3)*quat(3); |
| NaotoMorita | 19:3fae66745363 | 378 | } |
| NaotoMorita | 19:3fae66745363 | 379 | |
| NaotoMorita | 44:7d82e63b6a86 | 380 | void solaESKF::setQhat(float ex,float ey,float ez) |
| NaotoMorita | 44:7d82e63b6a86 | 381 | { |
| cocorlow | 78:e36a7b844fb5 | 382 | float cos_z_2 = std::cos(0.5f*ez); |
| cocorlow | 78:e36a7b844fb5 | 383 | float cos_y_2 = std::cos(0.5f*ey); |
| cocorlow | 78:e36a7b844fb5 | 384 | float cos_x_2 = std::cos(0.5f*ex); |
| NaotoMorita | 19:3fae66745363 | 385 | |
| cocorlow | 78:e36a7b844fb5 | 386 | float sin_z_2 = std::sin(0.5f*ez); |
| cocorlow | 78:e36a7b844fb5 | 387 | float sin_y_2 = std::sin(0.5f*ey); |
| cocorlow | 78:e36a7b844fb5 | 388 | float sin_x_2 = std::sin(0.5f*ex); |
| NaotoMorita | 19:3fae66745363 | 389 | |
| NaotoMorita | 19:3fae66745363 | 390 | // and now compute quaternion |
| cocorlow | 78:e36a7b844fb5 | 391 | qhat(0) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
| cocorlow | 78:e36a7b844fb5 | 392 | qhat(1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
| cocorlow | 78:e36a7b844fb5 | 393 | qhat(2) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
| cocorlow | 78:e36a7b844fb5 | 394 | qhat(3) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
| NaotoMorita | 19:3fae66745363 | 395 | } |
| NaotoMorita | 19:3fae66745363 | 396 | |
| cocorlow | 78:e36a7b844fb5 | 397 | Vector3f solaESKF::calcDynAcc(Vector3f acc) |
| NaotoMorita | 75:e2c825cdc511 | 398 | { |
| cocorlow | 78:e36a7b844fb5 | 399 | Vector3f accm = acc - accBias; |
| cocorlow | 78:e36a7b844fb5 | 400 | Matrix3f tdcm(3,3); |
| NaotoMorita | 75:e2c825cdc511 | 401 | computeDcm(tdcm, qhat); |
| cocorlow | 78:e36a7b844fb5 | 402 | tdcm = tdcm.transpose(); |
| NaotoMorita | 75:e2c825cdc511 | 403 | |
| cocorlow | 78:e36a7b844fb5 | 404 | Vector3f dynAcc = accm+tdcm*gravity; |
| NaotoMorita | 75:e2c825cdc511 | 405 | return dynAcc; |
| NaotoMorita | 75:e2c825cdc511 | 406 | } |
| NaotoMorita | 47:2467de40951f | 407 | |
| NaotoMorita | 47:2467de40951f | 408 | |
| NaotoMorita | 44:7d82e63b6a86 | 409 | void solaESKF::setGravity(float gx,float gy,float gz) |
| NaotoMorita | 23:1509648c2318 | 410 | { |
| cocorlow | 78:e36a7b844fb5 | 411 | gravity(0) = gx; |
| cocorlow | 78:e36a7b844fb5 | 412 | gravity(1) = gy; |
| cocorlow | 78:e36a7b844fb5 | 413 | gravity(2) = gz; |
| NaotoMorita | 23:1509648c2318 | 414 | } |
| NaotoMorita | 62:5519d34eb6e8 | 415 | |
| cocorlow | 78:e36a7b844fb5 | 416 | Vector3f solaESKF::getPihat() |
| NaotoMorita | 47:2467de40951f | 417 | { |
| NaotoMorita | 47:2467de40951f | 418 | return pihat; |
| NaotoMorita | 47:2467de40951f | 419 | } |
| cocorlow | 78:e36a7b844fb5 | 420 | Vector3f solaESKF::getVihat() |
| NaotoMorita | 47:2467de40951f | 421 | { |
| NaotoMorita | 47:2467de40951f | 422 | return vihat; |
| NaotoMorita | 47:2467de40951f | 423 | } |
| cocorlow | 78:e36a7b844fb5 | 424 | Vector4f solaESKF::getQhat() |
| NaotoMorita | 47:2467de40951f | 425 | { |
| NaotoMorita | 47:2467de40951f | 426 | return qhat; |
| NaotoMorita | 47:2467de40951f | 427 | } |
| cocorlow | 78:e36a7b844fb5 | 428 | Vector3f solaESKF::getAccBias() |
| NaotoMorita | 47:2467de40951f | 429 | { |
| NaotoMorita | 47:2467de40951f | 430 | return accBias; |
| NaotoMorita | 47:2467de40951f | 431 | } |
| cocorlow | 78:e36a7b844fb5 | 432 | Vector3f solaESKF::getGyroBias() |
| NaotoMorita | 47:2467de40951f | 433 | { |
| NaotoMorita | 47:2467de40951f | 434 | return gyroBias; |
| NaotoMorita | 47:2467de40951f | 435 | } |
| cocorlow | 78:e36a7b844fb5 | 436 | Vector3f solaESKF::getGravity() |
| NaotoMorita | 47:2467de40951f | 437 | { |
| NaotoMorita | 47:2467de40951f | 438 | return gravity; |
| NaotoMorita | 47:2467de40951f | 439 | } |
| NaotoMorita | 74:f5fe7fecbd3c | 440 | |
| cocorlow | 78:e36a7b844fb5 | 441 | VectorXf solaESKF::getErrState() |
| NaotoMorita | 47:2467de40951f | 442 | { |
| NaotoMorita | 47:2467de40951f | 443 | return errState; |
| NaotoMorita | 47:2467de40951f | 444 | } |
| NaotoMorita | 23:1509648c2318 | 445 | |
| NaotoMorita | 47:2467de40951f | 446 | void solaESKF::setPhatPosition(float val) |
| NaotoMorita | 47:2467de40951f | 447 | { |
| cocorlow | 78:e36a7b844fb5 | 448 | setBlockDiag(Phat, val, 0,2); |
| NaotoMorita | 47:2467de40951f | 449 | } |
| NaotoMorita | 47:2467de40951f | 450 | void solaESKF::setPhatVelocity(float val) |
| NaotoMorita | 47:2467de40951f | 451 | { |
| cocorlow | 78:e36a7b844fb5 | 452 | setBlockDiag(Phat, val, 3,5); |
| NaotoMorita | 47:2467de40951f | 453 | } |
| NaotoMorita | 47:2467de40951f | 454 | void solaESKF::setPhatAngleError(float val) |
| NaotoMorita | 47:2467de40951f | 455 | { |
| cocorlow | 78:e36a7b844fb5 | 456 | setBlockDiag(Phat, val, 6,8); |
| NaotoMorita | 47:2467de40951f | 457 | } |
| NaotoMorita | 47:2467de40951f | 458 | void solaESKF::setPhatAccBias(float val) |
| NaotoMorita | 47:2467de40951f | 459 | { |
| cocorlow | 78:e36a7b844fb5 | 460 | setBlockDiag(Phat, val, 9,11); |
| NaotoMorita | 47:2467de40951f | 461 | } |
| NaotoMorita | 47:2467de40951f | 462 | void solaESKF::setPhatGyroBias(float val) |
| NaotoMorita | 47:2467de40951f | 463 | { |
| cocorlow | 78:e36a7b844fb5 | 464 | setBlockDiag(Phat, val, 12,14); |
| NaotoMorita | 47:2467de40951f | 465 | } |
| NaotoMorita | 47:2467de40951f | 466 | void solaESKF::setPhatGravity(float val) |
| NaotoMorita | 47:2467de40951f | 467 | { |
| cocorlow | 78:e36a7b844fb5 | 468 | setBlockDiag(Phat, val, 15,17); |
| NaotoMorita | 62:5519d34eb6e8 | 469 | } |
| NaotoMorita | 47:2467de40951f | 470 | |
| NaotoMorita | 47:2467de40951f | 471 | |
| NaotoMorita | 47:2467de40951f | 472 | void solaESKF::setQVelocity(float val) |
| NaotoMorita | 47:2467de40951f | 473 | { |
| cocorlow | 78:e36a7b844fb5 | 474 | setBlockDiag(Q, val, 3, 5); |
| NaotoMorita | 47:2467de40951f | 475 | } |
| NaotoMorita | 47:2467de40951f | 476 | void solaESKF::setQAngleError(float val) |
| NaotoMorita | 47:2467de40951f | 477 | { |
| cocorlow | 78:e36a7b844fb5 | 478 | setBlockDiag(Q, val, 6, 8); |
| NaotoMorita | 47:2467de40951f | 479 | } |
| NaotoMorita | 47:2467de40951f | 480 | void solaESKF::setQAccBias(float val) |
| NaotoMorita | 47:2467de40951f | 481 | { |
| cocorlow | 78:e36a7b844fb5 | 482 | setBlockDiag(Q, val, 9, 11); |
| NaotoMorita | 47:2467de40951f | 483 | } |
| NaotoMorita | 47:2467de40951f | 484 | void solaESKF::setQGyroBias(float val) |
| NaotoMorita | 47:2467de40951f | 485 | { |
| cocorlow | 78:e36a7b844fb5 | 486 | setBlockDiag(Q, val, 12, 14); |
| NaotoMorita | 47:2467de40951f | 487 | } |
| NaotoMorita | 19:3fae66745363 | 488 | |
| NaotoMorita | 19:3fae66745363 | 489 | |
| cocorlow | 78:e36a7b844fb5 | 490 | void solaESKF::setDiag(MatrixXf& mat, float val){ |
| cocorlow | 78:e36a7b844fb5 | 491 | for (int i = 0; i < mat.cols(); i++){ |
| NaotoMorita | 44:7d82e63b6a86 | 492 | mat(i,i) = val; |
| NaotoMorita | 22:7d84b8bc20b4 | 493 | } |
| NaotoMorita | 22:7d84b8bc20b4 | 494 | } |
| NaotoMorita | 22:7d84b8bc20b4 | 495 | |
| cocorlow | 78:e36a7b844fb5 | 496 | void solaESKF::setBlockDiag(MatrixXf& mat, float val, int startIndex, int endIndex){ |
| NaotoMorita | 44:7d82e63b6a86 | 497 | for (int i = startIndex; i < endIndex+1; i++){ |
| NaotoMorita | 44:7d82e63b6a86 | 498 | mat(i,i) = val; |
| NaotoMorita | 22:7d84b8bc20b4 | 499 | } |
| NaotoMorita | 22:7d84b8bc20b4 | 500 | } |
| osaka | 51:a5af3b280d23 | 501 | |
| NaotoMorita | 58:93ba28cf5cb3 | 502 | void solaESKF::setPihat(float pi_x, float pi_y) |
| osaka | 51:a5af3b280d23 | 503 | { |
| cocorlow | 78:e36a7b844fb5 | 504 | pihat(0) = pi_x; |
| cocorlow | 78:e36a7b844fb5 | 505 | pihat(1) = pi_y; |
| NaotoMorita | 58:93ba28cf5cb3 | 506 | //pihat(3,1) = pi_z; |
| NaotoMorita | 56:c10f1168bd4a | 507 | } |
| NaotoMorita | 73:5770a0d470c0 | 508 | |
| cocorlow | 78:e36a7b844fb5 | 509 | Matrix3f solaESKF::Matrixcross(Vector3f v) |
| cocorlow | 78:e36a7b844fb5 | 510 | { |
| cocorlow | 78:e36a7b844fb5 | 511 | Matrix3f m; |
| cocorlow | 78:e36a7b844fb5 | 512 | m << 0.0f, -v(2), v(1), |
| cocorlow | 78:e36a7b844fb5 | 513 | v(2), 0.0f, -v(0), |
| cocorlow | 78:e36a7b844fb5 | 514 | -v(1), v(0), 0.0f; |
| cocorlow | 78:e36a7b844fb5 | 515 | return m; |
| cocorlow | 78:e36a7b844fb5 | 516 | } |
| NaotoMorita | 56:c10f1168bd4a | 517 | /* |
| NaotoMorita | 56:c10f1168bd4a | 518 | void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R) |
| NaotoMorita | 56:c10f1168bd4a | 519 | { |
| NaotoMorita | 56:c10f1168bd4a | 520 | Matrix accm = acc - accBias; |
| NaotoMorita | 56:c10f1168bd4a | 521 | Matrix tdcm(3,3); |
| NaotoMorita | 56:c10f1168bd4a | 522 | computeDcm(tdcm, qhat); |
| NaotoMorita | 56:c10f1168bd4a | 523 | tdcm = MatrixMath::Transpose(tdcm); |
| NaotoMorita | 56:c10f1168bd4a | 524 | Matrix tdcm_g = tdcm*gravity; |
| NaotoMorita | 56:c10f1168bd4a | 525 | Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
| NaotoMorita | 56:c10f1168bd4a | 526 | |
| NaotoMorita | 56:c10f1168bd4a | 527 | Matrix H(4,nState); |
| NaotoMorita | 56:c10f1168bd4a | 528 | for (int i = 1; i < 4; i++){ |
| NaotoMorita | 56:c10f1168bd4a | 529 | for (int j = 1; j < 4; j++){ |
| NaotoMorita | 56:c10f1168bd4a | 530 | H(i,j+6) = a2v(i,j); |
| NaotoMorita | 56:c10f1168bd4a | 531 | H(i,j+15) = tdcm(i,j); |
| NaotoMorita | 56:c10f1168bd4a | 532 | } |
| NaotoMorita | 56:c10f1168bd4a | 533 | } |
| NaotoMorita | 56:c10f1168bd4a | 534 | H(1,10) = -1.0f; |
| NaotoMorita | 56:c10f1168bd4a | 535 | H(2,11) = -1.0f; |
| NaotoMorita | 56:c10f1168bd4a | 536 | H(3,12) = -1.0f; |
| NaotoMorita | 56:c10f1168bd4a | 537 | H(4,3) = 1.0f; |
| NaotoMorita | 56:c10f1168bd4a | 538 | |
| NaotoMorita | 56:c10f1168bd4a | 539 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
| NaotoMorita | 56:c10f1168bd4a | 540 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
| NaotoMorita | 56:c10f1168bd4a | 541 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
| NaotoMorita | 56:c10f1168bd4a | 542 | Matrix zacc = -accm-tdcm*gravity; |
| NaotoMorita | 56:c10f1168bd4a | 543 | Matrix z(4,1); |
| NaotoMorita | 56:c10f1168bd4a | 544 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1); |
| NaotoMorita | 56:c10f1168bd4a | 545 | errState = K * z; |
| NaotoMorita | 56:c10f1168bd4a | 546 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
| NaotoMorita | 56:c10f1168bd4a | 547 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
| NaotoMorita | 56:c10f1168bd4a | 548 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
| NaotoMorita | 56:c10f1168bd4a | 549 | fuseErr2Nominal(); |
| NaotoMorita | 56:c10f1168bd4a | 550 | } |
| NaotoMorita | 56:c10f1168bd4a | 551 | |
| NaotoMorita | 56:c10f1168bd4a | 552 | void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R) |
| NaotoMorita | 56:c10f1168bd4a | 553 | { |
| NaotoMorita | 56:c10f1168bd4a | 554 | Matrix gyrom = gyro - gyroBias; |
| NaotoMorita | 56:c10f1168bd4a | 555 | Matrix dcm(3,3); |
| NaotoMorita | 56:c10f1168bd4a | 556 | computeDcm(dcm, qhat); |
| NaotoMorita | 56:c10f1168bd4a | 557 | Matrix a2v = dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1)); |
| NaotoMorita | 56:c10f1168bd4a | 558 | |
| NaotoMorita | 56:c10f1168bd4a | 559 | Matrix H(2,nState); |
| NaotoMorita | 56:c10f1168bd4a | 560 | for (int i = 1; i < 3; i++){ |
| NaotoMorita | 56:c10f1168bd4a | 561 | for (int j = 1; j < 4; j++){ |
| NaotoMorita | 56:c10f1168bd4a | 562 | H(i,j+6) = a2v(i,j); |
| NaotoMorita | 56:c10f1168bd4a | 563 | H(i,j+12) = -dcm(i,j); |
| NaotoMorita | 56:c10f1168bd4a | 564 | } |
| NaotoMorita | 56:c10f1168bd4a | 565 | } |
| NaotoMorita | 56:c10f1168bd4a | 566 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
| NaotoMorita | 56:c10f1168bd4a | 567 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A)); |
| NaotoMorita | 56:c10f1168bd4a | 568 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
| NaotoMorita | 56:c10f1168bd4a | 569 | |
| NaotoMorita | 56:c10f1168bd4a | 570 | Matrix z3 = -dcm*gyrom; |
| NaotoMorita | 56:c10f1168bd4a | 571 | Matrix z(2,1); |
| NaotoMorita | 56:c10f1168bd4a | 572 | z << z3(1,1) << z3(2,1); |
| NaotoMorita | 56:c10f1168bd4a | 573 | errState = K * z; |
| NaotoMorita | 56:c10f1168bd4a | 574 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
| NaotoMorita | 56:c10f1168bd4a | 575 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
| NaotoMorita | 56:c10f1168bd4a | 576 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
| NaotoMorita | 56:c10f1168bd4a | 577 | fuseErr2Nominal(); |
| NaotoMorita | 56:c10f1168bd4a | 578 | } |
| NaotoMorita | 56:c10f1168bd4a | 579 | void solaESKF::updateMag(Matrix mag, Matrix R) |
| NaotoMorita | 56:c10f1168bd4a | 580 | { |
| NaotoMorita | 56:c10f1168bd4a | 581 | Matrix dcm(3,3); |
| NaotoMorita | 56:c10f1168bd4a | 582 | computeDcm(dcm, qhat); |
| NaotoMorita | 56:c10f1168bd4a | 583 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
| NaotoMorita | 56:c10f1168bd4a | 584 | |
| NaotoMorita | 56:c10f1168bd4a | 585 | Matrix H(2,nState); |
| NaotoMorita | 56:c10f1168bd4a | 586 | for (int i = 1; i < 3; i++){ |
| NaotoMorita | 56:c10f1168bd4a | 587 | for (int j = 1; j < 4; j++){ |
| NaotoMorita | 56:c10f1168bd4a | 588 | H(i,j+6) = a2v(i,j); |
| NaotoMorita | 56:c10f1168bd4a | 589 | } |
| NaotoMorita | 56:c10f1168bd4a | 590 | } |
| NaotoMorita | 56:c10f1168bd4a | 591 | H(1,19) = 1.0f; |
| NaotoMorita | 56:c10f1168bd4a | 592 | //H(3,20) = 1.0f; |
| NaotoMorita | 56:c10f1168bd4a | 593 | |
| NaotoMorita | 56:c10f1168bd4a | 594 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
| NaotoMorita | 56:c10f1168bd4a | 595 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
| NaotoMorita | 56:c10f1168bd4a | 596 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
| NaotoMorita | 56:c10f1168bd4a | 597 | Matrix zmag = -dcm*mag-magField; |
| NaotoMorita | 56:c10f1168bd4a | 598 | Matrix z(2,1); |
| NaotoMorita | 56:c10f1168bd4a | 599 | z << zmag(1,1) << zmag(2,1); |
| NaotoMorita | 56:c10f1168bd4a | 600 | errState = K * z; |
| NaotoMorita | 56:c10f1168bd4a | 601 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
| NaotoMorita | 56:c10f1168bd4a | 602 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
| NaotoMorita | 56:c10f1168bd4a | 603 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
| NaotoMorita | 56:c10f1168bd4a | 604 | fuseErr2Nominal(); |
| NaotoMorita | 56:c10f1168bd4a | 605 | } |
| NaotoMorita | 59:03fe5e16a33c | 606 | void solaESKF::updateMag(Matrix mag,float palt, Matrix R) |
| NaotoMorita | 59:03fe5e16a33c | 607 | { |
| NaotoMorita | 59:03fe5e16a33c | 608 | Matrix dcm(3,3); |
| NaotoMorita | 59:03fe5e16a33c | 609 | computeDcm(dcm, qhat); |
| NaotoMorita | 59:03fe5e16a33c | 610 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
| NaotoMorita | 59:03fe5e16a33c | 611 | |
| NaotoMorita | 59:03fe5e16a33c | 612 | Matrix H(3,nState); |
| NaotoMorita | 59:03fe5e16a33c | 613 | for (int i = 1; i < 3; i++){ |
| NaotoMorita | 59:03fe5e16a33c | 614 | for (int j = 1; j < 4; j++){ |
| NaotoMorita | 59:03fe5e16a33c | 615 | H(i,j+6) = a2v(i,j); |
| NaotoMorita | 59:03fe5e16a33c | 616 | } |
| NaotoMorita | 59:03fe5e16a33c | 617 | } |
| NaotoMorita | 59:03fe5e16a33c | 618 | H(1,19) = 1.0f; |
| NaotoMorita | 59:03fe5e16a33c | 619 | H(3,3) = 1.0f; |
| NaotoMorita | 59:03fe5e16a33c | 620 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
| NaotoMorita | 59:03fe5e16a33c | 621 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
| NaotoMorita | 59:03fe5e16a33c | 622 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
| NaotoMorita | 59:03fe5e16a33c | 623 | Matrix zmag = -dcm*mag-magField; |
| NaotoMorita | 59:03fe5e16a33c | 624 | Matrix z(3,1); |
| NaotoMorita | 59:03fe5e16a33c | 625 | z << zmag(1,1) << zmag(2,1) << palt - pihat(3,1); |
| NaotoMorita | 59:03fe5e16a33c | 626 | errState = K * z; |
| NaotoMorita | 59:03fe5e16a33c | 627 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
| NaotoMorita | 59:03fe5e16a33c | 628 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
| NaotoMorita | 59:03fe5e16a33c | 629 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
| NaotoMorita | 59:03fe5e16a33c | 630 | |
| NaotoMorita | 59:03fe5e16a33c | 631 | fuseErr2Nominal(); |
| NaotoMorita | 59:03fe5e16a33c | 632 | } |
| NaotoMorita | 59:03fe5e16a33c | 633 | void solaESKF::updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R) |
| NaotoMorita | 59:03fe5e16a33c | 634 | { |
| NaotoMorita | 59:03fe5e16a33c | 635 | |
| NaotoMorita | 59:03fe5e16a33c | 636 | Matrix dcm(3,3); |
| NaotoMorita | 59:03fe5e16a33c | 637 | computeDcm(dcm, qhat); |
| NaotoMorita | 59:03fe5e16a33c | 638 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
| NaotoMorita | 59:03fe5e16a33c | 639 | |
| NaotoMorita | 59:03fe5e16a33c | 640 | |
| NaotoMorita | 59:03fe5e16a33c | 641 | Matrix H(3,nState); |
| NaotoMorita | 59:03fe5e16a33c | 642 | H(1,4) = 1.0f; |
| NaotoMorita | 59:03fe5e16a33c | 643 | H(2,5) = 1.0f; |
| NaotoMorita | 59:03fe5e16a33c | 644 | |
| NaotoMorita | 59:03fe5e16a33c | 645 | for (int j = 1; j < 4; j++){ |
| NaotoMorita | 59:03fe5e16a33c | 646 | H(3,j+6) = a2v(2,j); |
| NaotoMorita | 59:03fe5e16a33c | 647 | } |
| NaotoMorita | 59:03fe5e16a33c | 648 | //H(3,19) = 1.0f; |
| NaotoMorita | 59:03fe5e16a33c | 649 | |
| NaotoMorita | 59:03fe5e16a33c | 650 | Matrix zmag = -dcm*mag-magField; |
| NaotoMorita | 59:03fe5e16a33c | 651 | |
| NaotoMorita | 59:03fe5e16a33c | 652 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
| NaotoMorita | 59:03fe5e16a33c | 653 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
| NaotoMorita | 59:03fe5e16a33c | 654 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
| NaotoMorita | 59:03fe5e16a33c | 655 | Matrix z(3,1); |
| NaotoMorita | 59:03fe5e16a33c | 656 | z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << zmag(2,1); |
| NaotoMorita | 59:03fe5e16a33c | 657 | errState = K * z; |
| NaotoMorita | 59:03fe5e16a33c | 658 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
| NaotoMorita | 59:03fe5e16a33c | 659 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
| NaotoMorita | 59:03fe5e16a33c | 660 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
| NaotoMorita | 59:03fe5e16a33c | 661 | fuseErr2Nominal(); |
| NaotoMorita | 59:03fe5e16a33c | 662 | } |
| NaotoMorita | 56:c10f1168bd4a | 663 | |
| NaotoMorita | 59:03fe5e16a33c | 664 | void solaESKF::updateGPSPosition(Matrix posgps,float palt,Matrix R) |
| NaotoMorita | 59:03fe5e16a33c | 665 | { |
| NaotoMorita | 59:03fe5e16a33c | 666 | Matrix H(3,nState); |
| NaotoMorita | 59:03fe5e16a33c | 667 | H(1,1) = 1.0f; |
| NaotoMorita | 59:03fe5e16a33c | 668 | H(2,2) = 1.0f; |
| NaotoMorita | 59:03fe5e16a33c | 669 | H(3,3) = 1.0f; |
| NaotoMorita | 59:03fe5e16a33c | 670 | |
| NaotoMorita | 59:03fe5e16a33c | 671 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
| NaotoMorita | 59:03fe5e16a33c | 672 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
| NaotoMorita | 59:03fe5e16a33c | 673 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
| NaotoMorita | 59:03fe5e16a33c | 674 | Matrix z(3,1); |
| NaotoMorita | 59:03fe5e16a33c | 675 | z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1); |
| NaotoMorita | 59:03fe5e16a33c | 676 | errState = K * z; |
| NaotoMorita | 59:03fe5e16a33c | 677 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
| NaotoMorita | 59:03fe5e16a33c | 678 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
| NaotoMorita | 59:03fe5e16a33c | 679 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
| NaotoMorita | 59:03fe5e16a33c | 680 | fuseErr2Nominal(); |
| NaotoMorita | 59:03fe5e16a33c | 681 | } |
| NaotoMorita | 61:5e5c4fe12440 | 682 | |
| NaotoMorita | 61:5e5c4fe12440 | 683 | void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R) |
| NaotoMorita | 61:5e5c4fe12440 | 684 | { |
| NaotoMorita | 61:5e5c4fe12440 | 685 | Matrix accm = acc - accBias; |
| NaotoMorita | 61:5e5c4fe12440 | 686 | Matrix magm = mag - magBias; |
| NaotoMorita | 61:5e5c4fe12440 | 687 | Matrix dcm(3,3); |
| NaotoMorita | 61:5e5c4fe12440 | 688 | computeDcm(dcm, qhat); |
| NaotoMorita | 61:5e5c4fe12440 | 689 | Matrix tdcm = MatrixMath::Transpose(dcm); |
| NaotoMorita | 61:5e5c4fe12440 | 690 | Matrix tdcm_g = tdcm*gravity; |
| NaotoMorita | 61:5e5c4fe12440 | 691 | Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
| NaotoMorita | 61:5e5c4fe12440 | 692 | Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1)); |
| NaotoMorita | 61:5e5c4fe12440 | 693 | |
| NaotoMorita | 61:5e5c4fe12440 | 694 | Matrix H(5,nState); |
| NaotoMorita | 61:5e5c4fe12440 | 695 | for (int i = 1; i < 4; i++){ |
| NaotoMorita | 61:5e5c4fe12440 | 696 | for (int j = 1; j < 4; j++){ |
| NaotoMorita | 61:5e5c4fe12440 | 697 | H(i,j+6) = rotgrav(i,j); |
| NaotoMorita | 61:5e5c4fe12440 | 698 | } |
| NaotoMorita | 61:5e5c4fe12440 | 699 | H(i,16) = tdcm(i,3); |
| NaotoMorita | 61:5e5c4fe12440 | 700 | } |
| NaotoMorita | 61:5e5c4fe12440 | 701 | |
| NaotoMorita | 61:5e5c4fe12440 | 702 | H(1,10) = -1.0f; |
| NaotoMorita | 61:5e5c4fe12440 | 703 | H(2,11) = -1.0f; |
| NaotoMorita | 61:5e5c4fe12440 | 704 | H(3,12) = -1.0f; |
| NaotoMorita | 61:5e5c4fe12440 | 705 | |
| NaotoMorita | 61:5e5c4fe12440 | 706 | Matrix magned = dcm*magm; |
| NaotoMorita | 61:5e5c4fe12440 | 707 | float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1)); |
| NaotoMorita | 61:5e5c4fe12440 | 708 | |
| NaotoMorita | 61:5e5c4fe12440 | 709 | for(int j = 1; j < 4; j++){ |
| NaotoMorita | 61:5e5c4fe12440 | 710 | H(4,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx; |
| NaotoMorita | 61:5e5c4fe12440 | 711 | H(4,j+16) = -dcm(1,j)+(dcm(1,j)+dcm(2,j))/hx; |
| NaotoMorita | 61:5e5c4fe12440 | 712 | H(5,j+6) = rotmag(2,j); |
| NaotoMorita | 61:5e5c4fe12440 | 713 | H(5,j+16) = -dcm(2,j); |
| NaotoMorita | 61:5e5c4fe12440 | 714 | } |
| NaotoMorita | 61:5e5c4fe12440 | 715 | |
| NaotoMorita | 61:5e5c4fe12440 | 716 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
| NaotoMorita | 61:5e5c4fe12440 | 717 | Matrix zacc = -accm-tdcm*gravity; |
| NaotoMorita | 61:5e5c4fe12440 | 718 | Matrix zmag = dcm*magm; |
| NaotoMorita | 61:5e5c4fe12440 | 719 | Matrix z(5,1); |
| NaotoMorita | 61:5e5c4fe12440 | 720 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << -(zmag(1,1) - hx) << -zmag(2,1); |
| NaotoMorita | 61:5e5c4fe12440 | 721 | twelite.printf("%f %f\r\n",hx,(zmag(1,1) - hx)); |
| NaotoMorita | 61:5e5c4fe12440 | 722 | errState = K * z; |
| NaotoMorita | 61:5e5c4fe12440 | 723 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
| NaotoMorita | 61:5e5c4fe12440 | 724 | |
| NaotoMorita | 61:5e5c4fe12440 | 725 | fuseErr2Nominal(); |
| NaotoMorita | 61:5e5c4fe12440 | 726 | } |
| NaotoMorita | 73:5770a0d470c0 | 727 | float q0 = qhat(1,1); |
| NaotoMorita | 73:5770a0d470c0 | 728 | float q1 = qhat(2,1); |
| NaotoMorita | 73:5770a0d470c0 | 729 | float q2 = qhat(3,1); |
| NaotoMorita | 73:5770a0d470c0 | 730 | float q3 = qhat(4,1); |
| NaotoMorita | 73:5770a0d470c0 | 731 | |
| NaotoMorita | 73:5770a0d470c0 | 732 | float d0 = (-q3*q3-q2*q2+q1*q1+q0*q0); |
| NaotoMorita | 73:5770a0d470c0 | 733 | float q0q3q1q2 = (q0*q3+q1*q2); |
| NaotoMorita | 73:5770a0d470c0 | 734 | float h1lower = 2.0f*(4.0f*q0q3q1q2*q0q3q1q2/d0/d0+1.0f)*sqrt(4.0f*q0q3q1q2*q0q3q1q2/d0/d0+1.0f); |
| NaotoMorita | 73:5770a0d470c0 | 735 | |
| NaotoMorita | 73:5770a0d470c0 | 736 | float d1 = d0*sqrt(4.0f*q0q3q1q2*q0q3q1q2/d0/d0+1.0f); |
| NaotoMorita | 73:5770a0d470c0 | 737 | float d2 = d0*d0*sqrt(4.0f*q0q3q1q2*q0q3q1q2/d0/d0+1.0f); |
| NaotoMorita | 73:5770a0d470c0 | 738 | float d3 = d0*sqrt(4.0f*q0q3q1q2*q0q3q1q2/d0/d0+1.0f)*(4.0f*q0q3q1q2*q0q3q1q2/d0/d0+1.0f); |
| NaotoMorita | 73:5770a0d470c0 | 739 | |
| NaotoMorita | 73:5770a0d470c0 | 740 | |
| NaotoMorita | 73:5770a0d470c0 | 741 | |
| NaotoMorita | 73:5770a0d470c0 | 742 | Matrix Hh(2,4); |
| NaotoMorita | 73:5770a0d470c0 | 743 | Hh(1,1) = -(8.0f*q3*q0q3q1q2/d0/d0-16.0f*q0*q0q3q1q2*q0q3q1q2/d0/d0/d0)/h1lower; |
| NaotoMorita | 73:5770a0d470c0 | 744 | Hh(1,2) = -(8.0f*q2*q0q3q1q2/d0/d0-16.0f*q1*q0q3q1q2*q0q3q1q2/d0/d0/d0)/h1lower; |
| NaotoMorita | 73:5770a0d470c0 | 745 | Hh(1,3) = -(8.0f*q1*q0q3q1q2/d0/d0-16.0f*q2*q0q3q1q2*q0q3q1q2/d0/d0/d0)/h1lower; |
| NaotoMorita | 73:5770a0d470c0 | 746 | Hh(1,4) = -(8.0f*q0*q0q3q1q2/d0/d0-16.0f*q3*q0q3q1q2*q0q3q1q2/d0/d0/d0)/h1lower; |
| NaotoMorita | 73:5770a0d470c0 | 747 | |
| NaotoMorita | 73:5770a0d470c0 | 748 | Hh(2,1) = 2.0f*q3/d1-4.0f*q0*q0q3q1q2/d2-q0q3q1q2*(8.0f*q3*q0q3q1q2/d0/d0-16.0f*q0*q0q3q1q2*q0q3q1q2/d0/d0/d0)/d3; |
| NaotoMorita | 73:5770a0d470c0 | 749 | Hh(2,2) = 2.0f*q2/d1-4.0f*q1*q0q3q1q2/d2-q0q3q1q2*(8.0f*q2*q0q3q1q2/d0/d0-16.0f*q1*q0q3q1q2*q0q3q1q2/d0/d0/d0)/d3; |
| NaotoMorita | 73:5770a0d470c0 | 750 | Hh(2,3) = 2.0f*q1/d1+4.0f*q2*q0q3q1q2/d2-q0q3q1q2*(8.0f*q1*q0q3q1q2/d0/d0-16.0f*q2*q0q3q1q2*q0q3q1q2/d0/d0/d0)/d3; |
| NaotoMorita | 73:5770a0d470c0 | 751 | Hh(2,4) = 2.0f*q0/d1+4.0f*q3*q0q3q1q2/d2-q0q3q1q2*(8.0f*q0*q0q3q1q2/d0/d0-16.0f*q3*q0q3q1q2*q0q3q1q2/d0/d0/d0)/d3; |
| NaotoMorita | 56:c10f1168bd4a | 752 | */ |