HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

ScErrStateEKF.cpp@30:ff884e9b2e30, 2021-09-22 (annotated)

Committer:
NaotoMorita
Date:
Wed Sep 22 09:30:37 2021 +0000
Revision:
30:ff884e9b2e30
Parent:
29:05e35ca2c9c4
Child:
31:e655d4d8e4d6
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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 30:ff884e9b2e30 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 21:d6079def0473 18 setQgbias(0.00001f);
NaotoMorita 23:1509648c2318 19 setQabias(1.0f);
NaotoMorita 23:1509648c2318 20 setQv(0.000001f);
NaotoMorita 19:3fae66745363 21
NaotoMorita 20:37d3c3ee36e9 22 //加速度の観測
NaotoMorita 23:1509648c2318 23 setDiag(Ra,0.005f);
NaotoMorita 23:1509648c2318 24 setDiag(Qab,100.0f);
NaotoMorita 20:37d3c3ee36e9 25
NaotoMorita 20:37d3c3ee36e9 26 //ジャイロバイアスに関する制約
NaotoMorita 22:7d84b8bc20b4 27 setDiag(Rgsc,500.0f);
NaotoMorita 20:37d3c3ee36e9 28
NaotoMorita 21:d6079def0473 29 //機体軸速度に関する制約
NaotoMorita 23:1509648c2318 30 setDiag(Rvsc,100000.0f);
NaotoMorita 19:3fae66745363 31
NaotoMorita 21:d6079def0473 32 setDiag(Rm,5.0f);
NaotoMorita 19:3fae66745363 33
NaotoMorita 30:ff884e9b2e30 34 setDiag(Rgps,0.01f);
NaotoMorita 30:ff884e9b2e30 35 setDiag(Rsr,10.0f);
NaotoMorita 26:73c3f58b9d70 36
NaotoMorita 19:3fae66745363 37 for(int i = 0; i<10;i++){
NaotoMorita 19:3fae66745363 38 histffunc[i] = 0.0f;
NaotoMorita 19:3fae66745363 39 }
NaotoMorita 19:3fae66745363 40 histffuncindex = 0 ;
NaotoMorita 19:3fae66745363 41 sigma2a = 0.000020f;
NaotoMorita 19:3fae66745363 42
NaotoMorita 19:3fae66745363 43
NaotoMorita 19:3fae66745363 44 }
NaotoMorita 19:3fae66745363 45
NaotoMorita 23:1509648c2318 46 void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt)
NaotoMorita 19:3fae66745363 47 {
NaotoMorita 19:3fae66745363 48 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 49 acc -= accBias;
NaotoMorita 19:3fae66745363 50 Matrix A(4,4);
NaotoMorita 19:3fae66745363 51 A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z
NaotoMorita 19:3fae66745363 52 << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y
NaotoMorita 19:3fae66745363 53 << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x
NaotoMorita 19:3fae66745363 54 << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ;
NaotoMorita 19:3fae66745363 55
NaotoMorita 20:37d3c3ee36e9 56 Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 19:3fae66745363 57 qhat = phi * qhat;
NaotoMorita 19:3fae66745363 58 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 59 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 60
NaotoMorita 23:1509648c2318 61 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 62 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 63 vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f;
NaotoMorita 19:3fae66745363 64 }
NaotoMorita 19:3fae66745363 65
NaotoMorita 23:1509648c2318 66 void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt)
NaotoMorita 23:1509648c2318 67 {
NaotoMorita 23:1509648c2318 68 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 69 acc -= accBias;
NaotoMorita 23:1509648c2318 70 Matrix A(nState,nState);
NaotoMorita 23:1509648c2318 71 A(1,2) = gyro.z;
NaotoMorita 23:1509648c2318 72 A(1,3) = -gyro.y;
NaotoMorita 23:1509648c2318 73 A(2,1) = -gyro.z;
NaotoMorita 23:1509648c2318 74 A(2,3) = gyro.x;
NaotoMorita 23:1509648c2318 75 A(3,1) = gyro.y;
NaotoMorita 23:1509648c2318 76 A(3,2) = -gyro.x;
NaotoMorita 23:1509648c2318 77 A(1,4) = -0.5f;
NaotoMorita 23:1509648c2318 78 A(2,5) = -0.5f;
NaotoMorita 23:1509648c2318 79 A(3,6) = -0.5f;
NaotoMorita 23:1509648c2318 80
NaotoMorita 23:1509648c2318 81 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 82 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 83 Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z);
NaotoMorita 23:1509648c2318 84 Matrix baterm = -9.8f*MatrixMath::Transpose(dcm);
NaotoMorita 23:1509648c2318 85 for (int i = 1; i < 4; i++){
NaotoMorita 23:1509648c2318 86 for (int j = 1; i < 4; i++){
NaotoMorita 23:1509648c2318 87 A(i+9,j) = qeterm(i,j);
NaotoMorita 23:1509648c2318 88 A(i+9,j+6) = baterm(i,j);
NaotoMorita 23:1509648c2318 89 }
NaotoMorita 23:1509648c2318 90 }
NaotoMorita 23:1509648c2318 91
NaotoMorita 23:1509648c2318 92 Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 23:1509648c2318 93 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 94 errState = phi * errState;
NaotoMorita 23:1509648c2318 95 Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd;
NaotoMorita 23:1509648c2318 96 }
NaotoMorita 20:37d3c3ee36e9 97 void ScErrStateEKF::setQqerr(float val){
NaotoMorita 20:37d3c3ee36e9 98 Q(1,1) = val;
NaotoMorita 20:37d3c3ee36e9 99 Q(2,2) = val;
NaotoMorita 20:37d3c3ee36e9 100 Q(3,3) = val;
NaotoMorita 20:37d3c3ee36e9 101 }
NaotoMorita 20:37d3c3ee36e9 102
NaotoMorita 20:37d3c3ee36e9 103 void ScErrStateEKF::setQgbias(float val){
NaotoMorita 20:37d3c3ee36e9 104 Q(4,4) = val;
NaotoMorita 20:37d3c3ee36e9 105 Q(5,5) = val;
NaotoMorita 20:37d3c3ee36e9 106 Q(6,6) = val;
NaotoMorita 20:37d3c3ee36e9 107 }
NaotoMorita 20:37d3c3ee36e9 108 void ScErrStateEKF::setQabias(float val){
NaotoMorita 20:37d3c3ee36e9 109 Q(7,7) = val;
NaotoMorita 20:37d3c3ee36e9 110 Q(8,8) = val;
NaotoMorita 20:37d3c3ee36e9 111 Q(9,9) = val;
NaotoMorita 20:37d3c3ee36e9 112 }
NaotoMorita 23:1509648c2318 113 void ScErrStateEKF::setQv(float val){
NaotoMorita 23:1509648c2318 114 Q(10,10) = val;
NaotoMorita 23:1509648c2318 115 Q(11,11) = val;
NaotoMorita 23:1509648c2318 116 Q(12,12) = val;
NaotoMorita 23:1509648c2318 117 }
NaotoMorita 21:d6079def0473 118
NaotoMorita 20:37d3c3ee36e9 119 void ScErrStateEKF::setQab(float val){
NaotoMorita 21:d6079def0473 120 setDiag(Qab,val);
NaotoMorita 20:37d3c3ee36e9 121 }
NaotoMorita 20:37d3c3ee36e9 122
NaotoMorita 23:1509648c2318 123
NaotoMorita 20:37d3c3ee36e9 124 void ScErrStateEKF::setRsoftconst(float Vgsc,float Vvsc){
NaotoMorita 21:d6079def0473 125 setDiag(Rgsc,Vgsc);
NaotoMorita 23:1509648c2318 126 setDiag(Rvsc,Vvsc);
NaotoMorita 20:37d3c3ee36e9 127 }
NaotoMorita 20:37d3c3ee36e9 128
NaotoMorita 21:d6079def0473 129 void ScErrStateEKF::setDiag(Matrix& mat, float val){
NaotoMorita 21:d6079def0473 130 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 21:d6079def0473 131 mat(i,i) = val;
NaotoMorita 21:d6079def0473 132 }
NaotoMorita 21:d6079def0473 133 }
NaotoMorita 20:37d3c3ee36e9 134
NaotoMorita 25:07ac5c6cd61c 135 void ScErrStateEKF::getQhat(float (&res)[4]){
NaotoMorita 25:07ac5c6cd61c 136 for (int i = 0; i < 4; i++){
NaotoMorita 25:07ac5c6cd61c 137 res[i] = qhat(i+1,1);
NaotoMorita 25:07ac5c6cd61c 138 }
NaotoMorita 25:07ac5c6cd61c 139 }
NaotoMorita 25:07ac5c6cd61c 140
NaotoMorita 25:07ac5c6cd61c 141 void ScErrStateEKF::getVihat(float (&res)[3]){
NaotoMorita 25:07ac5c6cd61c 142 for (int i = 0; i < 3; i++){
NaotoMorita 25:07ac5c6cd61c 143 res[i] = vihat(i+1,1);
NaotoMorita 25:07ac5c6cd61c 144 }
NaotoMorita 25:07ac5c6cd61c 145 }
NaotoMorita 25:07ac5c6cd61c 146
NaotoMorita 25:07ac5c6cd61c 147 void ScErrStateEKF::getGyroBias(float (&resVal)[3], float (&resCov)[6]){
NaotoMorita 25:07ac5c6cd61c 148 resVal[0] = gyroBias.x;
NaotoMorita 25:07ac5c6cd61c 149 resVal[1] = gyroBias.y;
NaotoMorita 25:07ac5c6cd61c 150 resVal[2] = gyroBias.z;
NaotoMorita 25:07ac5c6cd61c 151 resCov[0] = Phat(4,4);
NaotoMorita 25:07ac5c6cd61c 152 resCov[1] = Phat(4,5);
NaotoMorita 25:07ac5c6cd61c 153 resCov[2] = Phat(4,6);
NaotoMorita 25:07ac5c6cd61c 154 resCov[3] = Phat(5,5);
NaotoMorita 25:07ac5c6cd61c 155 resCov[4] = Phat(5,6);
NaotoMorita 25:07ac5c6cd61c 156 resCov[5] = Phat(6,6);
NaotoMorita 25:07ac5c6cd61c 157
NaotoMorita 25:07ac5c6cd61c 158 }
NaotoMorita 25:07ac5c6cd61c 159
NaotoMorita 25:07ac5c6cd61c 160 void ScErrStateEKF::getAccBias(float (&resVal)[3], float (&resCov)[6]){
NaotoMorita 25:07ac5c6cd61c 161 resVal[0] = accBias.x;
NaotoMorita 25:07ac5c6cd61c 162 resVal[1] = accBias.y;
NaotoMorita 25:07ac5c6cd61c 163 resVal[2] = accBias.z;
NaotoMorita 25:07ac5c6cd61c 164 resCov[0] = Phat(7,7);
NaotoMorita 25:07ac5c6cd61c 165 resCov[1] = Phat(7,8);
NaotoMorita 25:07ac5c6cd61c 166 resCov[2] = Phat(7,9);
NaotoMorita 25:07ac5c6cd61c 167 resCov[3] = Phat(8,8);
NaotoMorita 25:07ac5c6cd61c 168 resCov[4] = Phat(8,9);
NaotoMorita 25:07ac5c6cd61c 169 resCov[5] = Phat(9,9);
NaotoMorita 25:07ac5c6cd61c 170
NaotoMorita 25:07ac5c6cd61c 171 }
NaotoMorita 25:07ac5c6cd61c 172
NaotoMorita 19:3fae66745363 173
NaotoMorita 19:3fae66745363 174 void ScErrStateEKF::updateAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 175 {
NaotoMorita 21:d6079def0473 176 acc -= accBias;
NaotoMorita 20:37d3c3ee36e9 177 Matrix dcm(3,3);
NaotoMorita 20:37d3c3ee36e9 178 computeDcm(dcm, qhat);
NaotoMorita 20:37d3c3ee36e9 179 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 21:d6079def0473 180 Matrix H(3,nState);
NaotoMorita 20:37d3c3ee36e9 181 H(1,2) = -2.0f*gvec.z;
NaotoMorita 20:37d3c3ee36e9 182 H(1,3) = 2.0f*gvec.y;
NaotoMorita 20:37d3c3ee36e9 183 H(2,1) = 2.0f*gvec.z;
NaotoMorita 20:37d3c3ee36e9 184 H(2,3) = -2.0f*gvec.x;
NaotoMorita 20:37d3c3ee36e9 185 H(3,1) = -2.0f*gvec.y;
NaotoMorita 20:37d3c3ee36e9 186 H(3,2) = 2.0f*gvec.x;
NaotoMorita 20:37d3c3ee36e9 187 H(1,7) = 1.0f;
NaotoMorita 20:37d3c3ee36e9 188 H(2,8) = 1.0f;
NaotoMorita 20:37d3c3ee36e9 189 H(3,9) = 1.0f;
NaotoMorita 20:37d3c3ee36e9 190 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra+Qab);
NaotoMorita 21:d6079def0473 191 Matrix z = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 20:37d3c3ee36e9 192 Matrix corrVal = K * (z-H*errState);
NaotoMorita 20:37d3c3ee36e9 193 errState = errState + corrVal;
NaotoMorita 21:d6079def0473 194 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra+Qab)*MatrixMath::Transpose(K);
NaotoMorita 20:37d3c3ee36e9 195 }
NaotoMorita 20:37d3c3ee36e9 196
NaotoMorita 20:37d3c3ee36e9 197 void ScErrStateEKF::updateGyroBiasConstraints(Vector3 gyro)
NaotoMorita 20:37d3c3ee36e9 198 {
NaotoMorita 21:d6079def0473 199 gyro -= gyroBias;
NaotoMorita 21:d6079def0473 200
NaotoMorita 20:37d3c3ee36e9 201 Matrix dcm(3,3);
NaotoMorita 20:37d3c3ee36e9 202 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 203 Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z);
NaotoMorita 23:1509648c2318 204 Matrix H(2,nState);
NaotoMorita 23:1509648c2318 205 for(int i = 1; i<3; i++){
NaotoMorita 23:1509648c2318 206 for(int j = 1;j<4;j++){
NaotoMorita 23:1509648c2318 207 H(i,j) = qeterm(i,j);
NaotoMorita 23:1509648c2318 208 }
NaotoMorita 23:1509648c2318 209 }
NaotoMorita 23:1509648c2318 210 H(1,4) = 1.0f*(dcm(1,1));
NaotoMorita 23:1509648c2318 211 H(1,5) = 1.0f*(dcm(2,1));
NaotoMorita 23:1509648c2318 212 H(1,6) = 1.0f*(dcm(3,1));
NaotoMorita 23:1509648c2318 213 H(2,4) = 1.0f*(dcm(1,2));
NaotoMorita 23:1509648c2318 214 H(2,5) = 1.0f*(dcm(2,2));
NaotoMorita 23:1509648c2318 215 H(2,6) = 1.0f*(dcm(3,2));
NaotoMorita 23:1509648c2318 216
NaotoMorita 23:1509648c2318 217 Matrix Pm(nState,nState);
NaotoMorita 23:1509648c2318 218 for(int i = 4; i<7; i++){
NaotoMorita 23:1509648c2318 219 for(int j = 4;j<7;j++){
NaotoMorita 23:1509648c2318 220 Pm(i,j) = Phat(i,j);
NaotoMorita 23:1509648c2318 221 }
NaotoMorita 23:1509648c2318 222 }
NaotoMorita 23:1509648c2318 223
NaotoMorita 23:1509648c2318 224 Matrix K = (Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rgsc);
NaotoMorita 23:1509648c2318 225 Matrix z(2,1);
NaotoMorita 23:1509648c2318 226 z <<dcm(1,1)*gyro.x+dcm(2,1)*gyro.y+dcm(3,1)*gyro.z<< dcm(1,2)*gyro.x+dcm(2,2)*gyro.y+dcm(3,2)*gyro.z;
NaotoMorita 23:1509648c2318 227 Matrix corrVal = K * (z-H*errState);
NaotoMorita 23:1509648c2318 228 errState = errState + corrVal;
NaotoMorita 23:1509648c2318 229 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgsc)*MatrixMath::Transpose(K);
NaotoMorita 23:1509648c2318 230 }
NaotoMorita 23:1509648c2318 231
NaotoMorita 23:1509648c2318 232
NaotoMorita 23:1509648c2318 233 void ScErrStateEKF::updateMeasures(Vector3 gyro, Vector3 acc, Vector3 accref)
NaotoMorita 23:1509648c2318 234 {
NaotoMorita 23:1509648c2318 235 acc -= accBias;
NaotoMorita 23:1509648c2318 236 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 237 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 238 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 239 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 23:1509648c2318 240 Matrix H(5,nState);
NaotoMorita 23:1509648c2318 241 H(1,2) = -2.0f*gvec.z;
NaotoMorita 23:1509648c2318 242 H(1,3) = 2.0f*gvec.y;
NaotoMorita 23:1509648c2318 243 H(2,1) = 2.0f*gvec.z;
NaotoMorita 23:1509648c2318 244 H(2,3) = -2.0f*gvec.x;
NaotoMorita 23:1509648c2318 245 H(3,1) = -2.0f*gvec.y;
NaotoMorita 23:1509648c2318 246 H(3,2) = 2.0f*gvec.x;
NaotoMorita 23:1509648c2318 247 H(1,7) = 1.0f;
NaotoMorita 23:1509648c2318 248 H(2,8) = 1.0f;
NaotoMorita 23:1509648c2318 249 H(3,9) = 1.0f;
NaotoMorita 23:1509648c2318 250 /*
NaotoMorita 23:1509648c2318 251 Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z);
NaotoMorita 23:1509648c2318 252 for(int j = 1;j<4;j++){
NaotoMorita 23:1509648c2318 253 H(4,j) = qeterm(1,j);
NaotoMorita 23:1509648c2318 254 H(5,j) = qeterm(2,j);
NaotoMorita 23:1509648c2318 255 }
NaotoMorita 23:1509648c2318 256 H(4,4) = 1.0f*(dcm(1,1));
NaotoMorita 23:1509648c2318 257 H(4,5) = 1.0f*(dcm(2,1));
NaotoMorita 23:1509648c2318 258 H(4,6) = 1.0f*(dcm(3,1));
NaotoMorita 23:1509648c2318 259 H(5,4) = 1.0f*(dcm(1,2));
NaotoMorita 23:1509648c2318 260 H(5,5) = 1.0f*(dcm(2,2));
NaotoMorita 23:1509648c2318 261 H(5,6) = 1.0f*(dcm(3,2));
NaotoMorita 23:1509648c2318 262 */
NaotoMorita 23:1509648c2318 263 Matrix nomVb = dcm*vihat;
NaotoMorita 23:1509648c2318 264 Matrix qeterm = 2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 23:1509648c2318 265 for(int j = 1;j<4;j++){
NaotoMorita 23:1509648c2318 266 H(4,j) = -qeterm(1,j);
NaotoMorita 23:1509648c2318 267 H(5,j) = -qeterm(3,j);
NaotoMorita 23:1509648c2318 268 //H(3,j) = -qeterm(3,j);
NaotoMorita 23:1509648c2318 269 H(4,9+j) = -dcm(1,j);
NaotoMorita 23:1509648c2318 270 H(5,9+j) = -dcm(3,j);
NaotoMorita 23:1509648c2318 271 //H(3,9+j) = -dcm(3,j);
NaotoMorita 23:1509648c2318 272 }
NaotoMorita 23:1509648c2318 273
NaotoMorita 23:1509648c2318 274 Matrix R(5,5);
NaotoMorita 23:1509648c2318 275 R(1,1) = Ra(1,1)+Qab(1,1);
NaotoMorita 23:1509648c2318 276 R(2,2) = Ra(2,2)+Qab(2,2);
NaotoMorita 23:1509648c2318 277 R(3,3) = Ra(3,3)+Qab(3,3);
NaotoMorita 23:1509648c2318 278 //R(4,4) = Rgsc(1,1);
NaotoMorita 23:1509648c2318 279 //R(5,5) = Rgsc(2,2);
NaotoMorita 23:1509648c2318 280 R(4,4) = Rvsc(1,1);
NaotoMorita 23:1509648c2318 281 R(5,5) = Rvsc(2,2);
NaotoMorita 23:1509648c2318 282
NaotoMorita 23:1509648c2318 283 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 23:1509648c2318 284 Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 23:1509648c2318 285 Matrix z(5,1);
NaotoMorita 23:1509648c2318 286 z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 23:1509648c2318 287 Matrix corrVal = K * (z-H*errState);
NaotoMorita 23:1509648c2318 288 errState = errState + corrVal;
NaotoMorita 23:1509648c2318 289 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 23:1509648c2318 290 }
NaotoMorita 23:1509648c2318 291
NaotoMorita 23:1509648c2318 292
NaotoMorita 23:1509648c2318 293 void ScErrStateEKF::updateStaticMeasures(Vector3 gyro,Vector3 acc, Vector3 accref)
NaotoMorita 23:1509648c2318 294 {
NaotoMorita 23:1509648c2318 295 acc -= accBias;
NaotoMorita 23:1509648c2318 296 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 297 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 298 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 299 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 23:1509648c2318 300 Matrix H(5,nState);
NaotoMorita 23:1509648c2318 301 H(1,2) = -2.0f*gvec.z;
NaotoMorita 23:1509648c2318 302 H(1,3) = 2.0f*gvec.y;
NaotoMorita 23:1509648c2318 303 H(2,1) = 2.0f*gvec.z;
NaotoMorita 23:1509648c2318 304 H(2,3) = -2.0f*gvec.x;
NaotoMorita 23:1509648c2318 305 H(3,1) = -2.0f*gvec.y;
NaotoMorita 23:1509648c2318 306 H(3,2) = 2.0f*gvec.x;
NaotoMorita 23:1509648c2318 307 H(1,7) = 1.0f;
NaotoMorita 23:1509648c2318 308 H(2,8) = 1.0f;
NaotoMorita 23:1509648c2318 309 H(3,9) = 1.0f;
NaotoMorita 23:1509648c2318 310 /*
NaotoMorita 23:1509648c2318 311 Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z);
NaotoMorita 23:1509648c2318 312 for(int j = 1;j<4;j++){
NaotoMorita 23:1509648c2318 313 H(4,j) = qeterm(1,j);
NaotoMorita 23:1509648c2318 314 H(5,j) = qeterm(2,j);
NaotoMorita 23:1509648c2318 315 }
NaotoMorita 23:1509648c2318 316 H(4,4) = 1.0f*(dcm(1,1));
NaotoMorita 23:1509648c2318 317 H(4,5) = 1.0f*(dcm(2,1));
NaotoMorita 23:1509648c2318 318 H(4,6) = 1.0f*(dcm(3,1));
NaotoMorita 23:1509648c2318 319 H(5,4) = 1.0f*(dcm(1,2));
NaotoMorita 23:1509648c2318 320 H(5,5) = 1.0f*(dcm(2,2));
NaotoMorita 23:1509648c2318 321 H(5,6) = 1.0f*(dcm(3,2));
NaotoMorita 23:1509648c2318 322 */
NaotoMorita 23:1509648c2318 323 Matrix nomVb = dcm*vihat;
NaotoMorita 23:1509648c2318 324 Matrix qeterm = 2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 23:1509648c2318 325 for(int j = 1;j<4;j++){
NaotoMorita 23:1509648c2318 326 H(4,j) = -qeterm(1,j);
NaotoMorita 23:1509648c2318 327 H(5,j) = -qeterm(3,j);
NaotoMorita 23:1509648c2318 328 //H(3,j) = -qeterm(3,j);
NaotoMorita 23:1509648c2318 329 H(4,9+j) = -dcm(1,j);
NaotoMorita 23:1509648c2318 330 H(5,9+j) = -dcm(3,j);
NaotoMorita 23:1509648c2318 331 //H(3,9+j) = -dcm(3,j);
NaotoMorita 23:1509648c2318 332 }
NaotoMorita 23:1509648c2318 333
NaotoMorita 23:1509648c2318 334 Matrix R(5,5);
NaotoMorita 23:1509648c2318 335 R(1,1) = Ra(1,1)*100.0f;
NaotoMorita 23:1509648c2318 336 R(2,2) = Ra(2,2)*100.0f;
NaotoMorita 23:1509648c2318 337 R(3,3) = Ra(3,3)*100.0f;
NaotoMorita 23:1509648c2318 338 //R(4,4) = Rgsc(1,1);
NaotoMorita 23:1509648c2318 339 //R(5,5) = Rgsc(2,2);
NaotoMorita 23:1509648c2318 340 R(4,4) = Rvsc(1,1);
NaotoMorita 23:1509648c2318 341 R(5,5) = Rvsc(2,2);
NaotoMorita 23:1509648c2318 342
NaotoMorita 23:1509648c2318 343 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 23:1509648c2318 344 Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 23:1509648c2318 345 Matrix z(5,1);
NaotoMorita 23:1509648c2318 346 z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 23:1509648c2318 347 Matrix corrVal = K * (z-H*errState);
NaotoMorita 23:1509648c2318 348 errState = errState + corrVal;
NaotoMorita 23:1509648c2318 349 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 23:1509648c2318 350 }
NaotoMorita 23:1509648c2318 351
NaotoMorita 25:07ac5c6cd61c 352
NaotoMorita 21:d6079def0473 353
NaotoMorita 21:d6079def0473 354
NaotoMorita 19:3fae66745363 355 void ScErrStateEKF::updateStaticAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 356 {
NaotoMorita 19:3fae66745363 357 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 358 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 359 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 21:d6079def0473 360 Matrix H(3,nState);
NaotoMorita 19:3fae66745363 361 H(1,2) = -2.0f*gvec.z;
NaotoMorita 19:3fae66745363 362 H(1,3) = 2.0f*gvec.y;
NaotoMorita 19:3fae66745363 363 H(2,1) = 2.0f*gvec.z;
NaotoMorita 19:3fae66745363 364 H(2,3) = -2.0f*gvec.x;
NaotoMorita 19:3fae66745363 365 H(3,1) = -2.0f*gvec.y;
NaotoMorita 19:3fae66745363 366 H(3,2) = 2.0f*gvec.x;
NaotoMorita 19:3fae66745363 367 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra*100.0f);
NaotoMorita 19:3fae66745363 368 Matrix accmat(3,1);
NaotoMorita 19:3fae66745363 369 accmat << acc.x << acc.y << acc.z;
NaotoMorita 19:3fae66745363 370 Matrix gref(3,1);
NaotoMorita 19:3fae66745363 371 gref << 0.0f << 0.0f << accref.z;
NaotoMorita 19:3fae66745363 372 Matrix z = accmat-dcm*gref;
NaotoMorita 19:3fae66745363 373 errState = errState + K * (z-H*errState);
NaotoMorita 21:d6079def0473 374 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra*100.0f)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 375 }
NaotoMorita 19:3fae66745363 376
NaotoMorita 30:ff884e9b2e30 377 void ScErrStateEKF::updateGPSVelocity(float vi_x, float vi_y, float sinkRate)
NaotoMorita 19:3fae66745363 378 {
NaotoMorita 21:d6079def0473 379 Matrix H(3,nState);
NaotoMorita 29:05e35ca2c9c4 380 H(1,10) = 1.0f;
NaotoMorita 30:ff884e9b2e30 381 H(2,11) = 1.0f;
NaotoMorita 30:ff884e9b2e30 382 H(3,12) = 1.0f;
NaotoMorita 26:73c3f58b9d70 383 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rgps);
NaotoMorita 29:05e35ca2c9c4 384 Matrix z(3,1);
NaotoMorita 30:ff884e9b2e30 385 z << vi_x - vihat(1,1) << vi_y-vihat(2,1) << sinkRate - vihat(3,1);
NaotoMorita 26:73c3f58b9d70 386 Matrix corrVal = K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 387 errState = errState + corrVal;
NaotoMorita 26:73c3f58b9d70 388 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgps)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 389 }
NaotoMorita 19:3fae66745363 390
NaotoMorita 30:ff884e9b2e30 391 void ScErrStateEKF::updateSinkRate(float sinkRate)
NaotoMorita 30:ff884e9b2e30 392 {
NaotoMorita 30:ff884e9b2e30 393 Matrix H(1,nState);
NaotoMorita 30:ff884e9b2e30 394 H(1,12) = 1.0f;
NaotoMorita 30:ff884e9b2e30 395 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rsr);
NaotoMorita 30:ff884e9b2e30 396 Matrix z(1,1);
NaotoMorita 30:ff884e9b2e30 397 z << sinkRate - vihat(3,1);
NaotoMorita 30:ff884e9b2e30 398 Matrix corrVal = K * (z-H*errState);
NaotoMorita 30:ff884e9b2e30 399 errState = errState + corrVal;
NaotoMorita 30:ff884e9b2e30 400 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rsr)*MatrixMath::Transpose(K);
NaotoMorita 30:ff884e9b2e30 401 }
NaotoMorita 30:ff884e9b2e30 402
NaotoMorita 25:07ac5c6cd61c 403 void ScErrStateEKF::updateCenteredGyroBiasCorrection(float (&cBg)[3])
NaotoMorita 25:07ac5c6cd61c 404 {
NaotoMorita 25:07ac5c6cd61c 405
NaotoMorita 25:07ac5c6cd61c 406 Matrix RgyroBias(3,3);
NaotoMorita 25:07ac5c6cd61c 407 for(int i = 1;i<4;i++){
NaotoMorita 25:07ac5c6cd61c 408 RgyroBias(i,i) = 0.1f;
NaotoMorita 25:07ac5c6cd61c 409 }
NaotoMorita 25:07ac5c6cd61c 410
NaotoMorita 25:07ac5c6cd61c 411 Matrix H(3,nState);
NaotoMorita 25:07ac5c6cd61c 412 H(1,4) = 1.0f;
NaotoMorita 25:07ac5c6cd61c 413 H(2,5) = 1.0f;
NaotoMorita 25:07ac5c6cd61c 414 H(3,6) = 1.0f;
NaotoMorita 25:07ac5c6cd61c 415
NaotoMorita 25:07ac5c6cd61c 416 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RgyroBias);
NaotoMorita 25:07ac5c6cd61c 417 Matrix z(3,1);
NaotoMorita 25:07ac5c6cd61c 418 z <<cBg[0]-gyroBias.x <<cBg[1]-gyroBias.y <<cBg[2]-gyroBias.z;
NaotoMorita 25:07ac5c6cd61c 419 Matrix corrVal = K * (z-H*errState);
NaotoMorita 25:07ac5c6cd61c 420 errState = errState + corrVal;
NaotoMorita 25:07ac5c6cd61c 421 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RgyroBias)*MatrixMath::Transpose(K);
NaotoMorita 25:07ac5c6cd61c 422
NaotoMorita 25:07ac5c6cd61c 423 }
NaotoMorita 25:07ac5c6cd61c 424
NaotoMorita 25:07ac5c6cd61c 425 void ScErrStateEKF::updateCenteredAccBiasCorrection(float (&cBa)[3])
NaotoMorita 25:07ac5c6cd61c 426 {
NaotoMorita 25:07ac5c6cd61c 427
NaotoMorita 25:07ac5c6cd61c 428 Matrix RaccBias(3,3);
NaotoMorita 25:07ac5c6cd61c 429 for(int i = 1;i<4;i++){
NaotoMorita 25:07ac5c6cd61c 430 RaccBias(i,i) = 5.0f;
NaotoMorita 25:07ac5c6cd61c 431 }
NaotoMorita 25:07ac5c6cd61c 432
NaotoMorita 25:07ac5c6cd61c 433 Matrix H(3,nState);
NaotoMorita 25:07ac5c6cd61c 434 H(1,7) = 1.0f;
NaotoMorita 25:07ac5c6cd61c 435 H(2,8) = 1.0f;
NaotoMorita 25:07ac5c6cd61c 436 H(3,9) = 1.0f;
NaotoMorita 25:07ac5c6cd61c 437
NaotoMorita 25:07ac5c6cd61c 438 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RaccBias);
NaotoMorita 25:07ac5c6cd61c 439 Matrix z(3,1);
NaotoMorita 25:07ac5c6cd61c 440 z <<cBa[0]-accBias.x <<cBa[1]-accBias.y <<cBa[2]-accBias.z;
NaotoMorita 25:07ac5c6cd61c 441 Matrix corrVal = K * (z-H*errState);
NaotoMorita 25:07ac5c6cd61c 442 errState = errState + corrVal;
NaotoMorita 25:07ac5c6cd61c 443 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RaccBias)*MatrixMath::Transpose(K);
NaotoMorita 25:07ac5c6cd61c 444
NaotoMorita 25:07ac5c6cd61c 445 //gyroBias.x = cBg[0];
NaotoMorita 25:07ac5c6cd61c 446 //gyroBias.y = cBg[1];
NaotoMorita 25:07ac5c6cd61c 447 //gyroBias.z = cBg[2];
NaotoMorita 25:07ac5c6cd61c 448 }
NaotoMorita 25:07ac5c6cd61c 449
NaotoMorita 25:07ac5c6cd61c 450
NaotoMorita 19:3fae66745363 451 void ScErrStateEKF::resetBias()
NaotoMorita 19:3fae66745363 452 {
NaotoMorita 19:3fae66745363 453 gyroBias.x = gyroBias.x + errState(4,1)*1.0f;
NaotoMorita 19:3fae66745363 454 gyroBias.y = gyroBias.y + errState(5,1)*1.0f;
NaotoMorita 19:3fae66745363 455 gyroBias.z = gyroBias.z + errState(6,1)*1.0f;
NaotoMorita 19:3fae66745363 456 errState(4,1) = 0.0f;
NaotoMorita 19:3fae66745363 457 errState(5,1) = 0.0f;
NaotoMorita 19:3fae66745363 458 errState(6,1) = 0.0f;
NaotoMorita 20:37d3c3ee36e9 459 accBias.x = accBias.x + errState(7,1);
NaotoMorita 20:37d3c3ee36e9 460 accBias.y = accBias.y + errState(8,1);
NaotoMorita 20:37d3c3ee36e9 461 accBias.z = accBias.z + errState(9,1);
NaotoMorita 20:37d3c3ee36e9 462 errState(7,1) = 0.0f;
NaotoMorita 20:37d3c3ee36e9 463 errState(8,1) = 0.0f;
NaotoMorita 20:37d3c3ee36e9 464 errState(9,1) = 0.0f;
NaotoMorita 19:3fae66745363 465 }
NaotoMorita 19:3fae66745363 466
NaotoMorita 19:3fae66745363 467 void ScErrStateEKF::computeAngles(Vector3& rpy,Vector3 rpy_align)
NaotoMorita 19:3fae66745363 468 {
NaotoMorita 19:3fae66745363 469 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 470 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 471 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 472 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 473 Matrix qest = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 474 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qest),qest));
NaotoMorita 19:3fae66745363 475 qest *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 476 float q0 = qest( 1, 1 );
NaotoMorita 19:3fae66745363 477 float q1 = qest( 2, 1 );
NaotoMorita 19:3fae66745363 478 float q2 = qest( 3, 1 );
NaotoMorita 19:3fae66745363 479 float q3 = qest( 4, 1 );
NaotoMorita 19:3fae66745363 480 rpy.x = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-rpy_align.x;
NaotoMorita 19:3fae66745363 481 rpy.y = asinf(-2.0f * (q1*q3 - q0*q2))-rpy_align.y;
NaotoMorita 19:3fae66745363 482 rpy.z = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 19:3fae66745363 483
NaotoMorita 19:3fae66745363 484 }
NaotoMorita 19:3fae66745363 485
NaotoMorita 21:d6079def0473 486
NaotoMorita 21:d6079def0473 487 void ScErrStateEKF::fuseErr2Nominal()
NaotoMorita 19:3fae66745363 488 {
NaotoMorita 19:3fae66745363 489 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 490 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 491 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 492 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 493 qhat = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 494 errState(1,1) = 0.0f;
NaotoMorita 19:3fae66745363 495 errState(2,1) = 0.0f;
NaotoMorita 19:3fae66745363 496 errState(3,1) = 0.0f;
NaotoMorita 19:3fae66745363 497 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 498 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 499
NaotoMorita 23:1509648c2318 500 vihat(1,1) += errState(10,1);
NaotoMorita 23:1509648c2318 501 vihat(2,1) += errState(11,1);
NaotoMorita 23:1509648c2318 502 vihat(3,1) += errState(12,1);
NaotoMorita 23:1509648c2318 503 errState(10,1) = 0.0f;
NaotoMorita 23:1509648c2318 504 errState(11,1) = 0.0f;
NaotoMorita 23:1509648c2318 505 errState(12,1) = 0.0f;
NaotoMorita 19:3fae66745363 506 }
NaotoMorita 19:3fae66745363 507
NaotoMorita 19:3fae66745363 508 Matrix ScErrStateEKF::quatmultiply(Matrix q, Matrix r)
NaotoMorita 19:3fae66745363 509 {
NaotoMorita 19:3fae66745363 510 Matrix qout(4,1);
NaotoMorita 19:3fae66745363 511 qout(1,1) = q(1,1)*r(1,1) - q(2,1)*r(2,1) - q(3,1)*r(3,1) - q(4,1)*r(4,1);
NaotoMorita 19:3fae66745363 512 qout(2,1) = q(1,1)*r(2,1) + r(1,1)*q(2,1) + q(3,1)*r(4,1)-q(4,1)*r(3,1);
NaotoMorita 19:3fae66745363 513 qout(3,1) = q(1,1)*r(3,1) + r(1,1)*q(3,1) + q(4,1)*r(2,1)-q(2,1)*r(4,1);
NaotoMorita 19:3fae66745363 514 qout(4,1) = q(1,1)*r(4,1) + r(1,1)*q(4,1) + q(2,1)*r(3,1)-q(3,1)*r(2,1);
NaotoMorita 19:3fae66745363 515 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout));
NaotoMorita 19:3fae66745363 516 qout *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 517 return qout;
NaotoMorita 19:3fae66745363 518 }
NaotoMorita 19:3fae66745363 519
NaotoMorita 19:3fae66745363 520 void ScErrStateEKF::computeDcm(Matrix& dcm, Matrix quat)
NaotoMorita 19:3fae66745363 521 {
NaotoMorita 19:3fae66745363 522
NaotoMorita 19:3fae66745363 523 float q0 = quat( 1, 1 );
NaotoMorita 19:3fae66745363 524 float q1 = quat( 2, 1 );
NaotoMorita 19:3fae66745363 525 float q2 = quat( 3, 1 );
NaotoMorita 19:3fae66745363 526 float q3 = quat( 4, 1 );
NaotoMorita 19:3fae66745363 527
NaotoMorita 19:3fae66745363 528 dcm(1,1) = q0*q0 + q1*q1 - q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 529 dcm(1,2) = 2*(q1*q2 + q0*q3);
NaotoMorita 19:3fae66745363 530 dcm(1,3) = 2*(q1*q3 - q0*q2);
NaotoMorita 19:3fae66745363 531 dcm(2,1) = 2*(q1*q2 - q0*q3);
NaotoMorita 19:3fae66745363 532 dcm(2,2) = q0*q0 - q1*q1 + q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 533 dcm(2,3) = 2*(q2*q3 + q0*q1);
NaotoMorita 19:3fae66745363 534 dcm(3,1) = 2*(q1*q3 + q0*q2);
NaotoMorita 19:3fae66745363 535 dcm(3,2) = 2*(q2*q3 - q0*q1);
NaotoMorita 19:3fae66745363 536 dcm(3,3) = q0*q0 - q1*q1 - q2*q2 + q3*q3;
NaotoMorita 19:3fae66745363 537
NaotoMorita 19:3fae66745363 538 }
NaotoMorita 19:3fae66745363 539
NaotoMorita 19:3fae66745363 540 void ScErrStateEKF::defineQhat(Vector3 align){
NaotoMorita 19:3fae66745363 541 float cos_z_2 = cosf(0.5f*align.z);
NaotoMorita 19:3fae66745363 542 float cos_y_2 = cosf(0.5f*align.y);
NaotoMorita 19:3fae66745363 543 float cos_x_2 = cosf(0.5f*align.x);
NaotoMorita 19:3fae66745363 544
NaotoMorita 19:3fae66745363 545 float sin_z_2 = sinf(0.5f*align.z);
NaotoMorita 19:3fae66745363 546 float sin_y_2 = sinf(0.5f*align.y);
NaotoMorita 19:3fae66745363 547 float sin_x_2 = sinf(0.5f*align.x);
NaotoMorita 19:3fae66745363 548
NaotoMorita 19:3fae66745363 549 // and now compute quaternion
NaotoMorita 19:3fae66745363 550 qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 551 qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2;
NaotoMorita 19:3fae66745363 552 qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 553 qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 554 }
NaotoMorita 19:3fae66745363 555
NaotoMorita 23:1509648c2318 556 void ScErrStateEKF::computeVb(Vector3& vb)
NaotoMorita 23:1509648c2318 557 {
NaotoMorita 23:1509648c2318 558 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 559 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 560 Matrix vbmat = dcm*vihat;
NaotoMorita 23:1509648c2318 561 vb.x = vbmat(1,1);
NaotoMorita 23:1509648c2318 562 vb.y = vbmat(2,1);
NaotoMorita 23:1509648c2318 563 vb.z = vbmat(3,1);
NaotoMorita 23:1509648c2318 564
NaotoMorita 23:1509648c2318 565 }
NaotoMorita 23:1509648c2318 566
NaotoMorita 19:3fae66745363 567
NaotoMorita 19:3fae66745363 568
NaotoMorita 19:3fae66745363 569 Vector3 ScErrStateEKF::calcDynAcc(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 570 {
NaotoMorita 19:3fae66745363 571 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 572 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 573 float _x, _y, _z;
NaotoMorita 19:3fae66745363 574 _x = acc.x-(dcm( 1, 1 )*accref.x+dcm( 1, 2 )*accref.y+dcm( 1, 3 )*accref.z);
NaotoMorita 19:3fae66745363 575 _y = acc.y-(dcm( 2, 1 )*accref.x+dcm( 2, 2 )*accref.y+dcm( 2, 3 )*accref.z);
NaotoMorita 19:3fae66745363 576 _z = acc.z-(dcm( 3, 1 )*accref.x+dcm( 3, 2 )*accref.y+dcm( 3, 3 )*accref.z);
NaotoMorita 19:3fae66745363 577 return Vector3(_x, _y, _z);
NaotoMorita 19:3fae66745363 578 }
NaotoMorita 19:3fae66745363 579
NaotoMorita 19:3fae66745363 580
NaotoMorita 19:3fae66745363 581 bool ScErrStateEKF::determinDynStatus(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 582 {
NaotoMorita 19:3fae66745363 583 histffunc[histffuncindex] = acc.Norm()*acc.Norm()-accref.Norm()*accref.Norm()-3.0f*sigma2a;
NaotoMorita 19:3fae66745363 584 if(histffuncindex<9){
NaotoMorita 19:3fae66745363 585 histffuncindex += 1;
NaotoMorita 19:3fae66745363 586 }else{
NaotoMorita 19:3fae66745363 587 histffuncindex =0;
NaotoMorita 19:3fae66745363 588 }
NaotoMorita 19:3fae66745363 589 aveffunc = 0;
NaotoMorita 19:3fae66745363 590 for(int i = 1;i<10;i++){
NaotoMorita 19:3fae66745363 591 aveffunc += 1.0f/10.0f*histffunc[i];
NaotoMorita 19:3fae66745363 592 }
NaotoMorita 19:3fae66745363 593 sigma2f = 1.0f/10.0f*(6.0f*sigma2a*sigma2a+4.0f*accref.Norm()*accref.Norm()*sigma2a);
NaotoMorita 19:3fae66745363 594
NaotoMorita 19:3fae66745363 595
NaotoMorita 19:3fae66745363 596 dynacc = calcDynAcc(acc,accref);
NaotoMorita 19:3fae66745363 597 bool dynCase = true;
NaotoMorita 19:3fae66745363 598 if((dynacc.Norm()<0.005f) && (abs(acc.Norm()-accref.Norm())<0.005f)){dynCase = false;}
NaotoMorita 19:3fae66745363 599 if(aveffunc<sqrt(sigma2f/0.99f) && abs(acc.Norm()-accref.Norm())<0.001f){dynCase = false;}
NaotoMorita 19:3fae66745363 600 return dynCase;
NaotoMorita 19:3fae66745363 601
NaotoMorita 19:3fae66745363 602 }
NaotoMorita 19:3fae66745363 603
NaotoMorita 22:7d84b8bc20b4 604 /*
NaotoMorita 22:7d84b8bc20b4 605 void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt)
NaotoMorita 22:7d84b8bc20b4 606 {
NaotoMorita 22:7d84b8bc20b4 607 gyro -= gyroBias;
NaotoMorita 22:7d84b8bc20b4 608 acc -= accBias;
NaotoMorita 22:7d84b8bc20b4 609 Matrix A(4,4);
NaotoMorita 22:7d84b8bc20b4 610 A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z
NaotoMorita 22:7d84b8bc20b4 611 << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y
NaotoMorita 22:7d84b8bc20b4 612 << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x
NaotoMorita 22:7d84b8bc20b4 613 << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ;
NaotoMorita 22:7d84b8bc20b4 614
NaotoMorita 22:7d84b8bc20b4 615 Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 22:7d84b8bc20b4 616 qhat = phi * qhat;
NaotoMorita 22:7d84b8bc20b4 617 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 22:7d84b8bc20b4 618 qhat *= (1.0f/ qnorm);
NaotoMorita 22:7d84b8bc20b4 619
NaotoMorita 22:7d84b8bc20b4 620 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 621 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 622 vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f;
NaotoMorita 22:7d84b8bc20b4 623 }
NaotoMorita 19:3fae66745363 624
NaotoMorita 22:7d84b8bc20b4 625 void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt)
NaotoMorita 22:7d84b8bc20b4 626 {
NaotoMorita 22:7d84b8bc20b4 627 gyro -= gyroBias;
NaotoMorita 22:7d84b8bc20b4 628 acc -= accBias;
NaotoMorita 22:7d84b8bc20b4 629 Matrix A(nState,nState);
NaotoMorita 22:7d84b8bc20b4 630 A(1,2) = gyro.z;
NaotoMorita 22:7d84b8bc20b4 631 A(1,3) = -gyro.y;
NaotoMorita 22:7d84b8bc20b4 632 A(2,1) = -gyro.z;
NaotoMorita 22:7d84b8bc20b4 633 A(2,3) = gyro.x;
NaotoMorita 22:7d84b8bc20b4 634 A(3,1) = gyro.y;
NaotoMorita 22:7d84b8bc20b4 635 A(3,2) = -gyro.x;
NaotoMorita 22:7d84b8bc20b4 636 A(1,4) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 637 A(2,5) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 638 A(3,6) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 639
NaotoMorita 22:7d84b8bc20b4 640 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 641 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 642 Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z);
NaotoMorita 22:7d84b8bc20b4 643 Matrix baterm = -9.8f*MatrixMath::Transpose(dcm);
NaotoMorita 22:7d84b8bc20b4 644 for (int i = 1; i < 4; i++){
NaotoMorita 22:7d84b8bc20b4 645 for (int j = 1; i < 4; i++){
NaotoMorita 22:7d84b8bc20b4 646 A(i+9,j) = qeterm(i,j);
NaotoMorita 22:7d84b8bc20b4 647 A(i+9,j+6) = baterm(i,j);
NaotoMorita 22:7d84b8bc20b4 648 }
NaotoMorita 22:7d84b8bc20b4 649 }
NaotoMorita 22:7d84b8bc20b4 650
NaotoMorita 22:7d84b8bc20b4 651 Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 22:7d84b8bc20b4 652 Matrix Qd = Q * att_dt + 0.5f*A*Q * att_dt * att_dt+ 0.5f*Q*MatrixMath::Transpose(A) * att_dt * att_dt;
NaotoMorita 22:7d84b8bc20b4 653 errState = phi * errState;
NaotoMorita 22:7d84b8bc20b4 654 Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd;
NaotoMorita 22:7d84b8bc20b4 655 }
NaotoMorita 22:7d84b8bc20b4 656
NaotoMorita 22:7d84b8bc20b4 657 void ScErrStateEKF::updateVelocityConstraints()
NaotoMorita 22:7d84b8bc20b4 658 {
NaotoMorita 22:7d84b8bc20b4 659
NaotoMorita 22:7d84b8bc20b4 660 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 661 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 662 Matrix H(2,nState);
NaotoMorita 22:7d84b8bc20b4 663
NaotoMorita 22:7d84b8bc20b4 664 Matrix nomVb = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 665 Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 22:7d84b8bc20b4 666 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 667 H(1,j) = -qeterm(1,j);
NaotoMorita 22:7d84b8bc20b4 668 H(2,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 669 //H(3,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 670 H(1,9+j) = -dcm(1,j);
NaotoMorita 22:7d84b8bc20b4 671 H(2,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 672 //H(3,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 673 }
NaotoMorita 22:7d84b8bc20b4 674
NaotoMorita 22:7d84b8bc20b4 675 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc);
NaotoMorita 22:7d84b8bc20b4 676 Matrix z(2,1);
NaotoMorita 22:7d84b8bc20b4 677 z << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 22:7d84b8bc20b4 678 Matrix corrVal = K * (z-H*errState);
NaotoMorita 22:7d84b8bc20b4 679 errState = errState + corrVal;
NaotoMorita 22:7d84b8bc20b4 680 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K);
NaotoMorita 22:7d84b8bc20b4 681
NaotoMorita 22:7d84b8bc20b4 682 }
NaotoMorita 22:7d84b8bc20b4 683
NaotoMorita 22:7d84b8bc20b4 684 void ScErrStateEKF::updateConstraints(Vector3 gyro)
NaotoMorita 22:7d84b8bc20b4 685 {
NaotoMorita 22:7d84b8bc20b4 686
NaotoMorita 22:7d84b8bc20b4 687 gyro -=gyroBias;
NaotoMorita 22:7d84b8bc20b4 688
NaotoMorita 22:7d84b8bc20b4 689 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 690 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 691
NaotoMorita 22:7d84b8bc20b4 692 Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z);
NaotoMorita 22:7d84b8bc20b4 693 Matrix H(4,nState);
NaotoMorita 22:7d84b8bc20b4 694 for(int i = 1; i<3; i++){
NaotoMorita 22:7d84b8bc20b4 695 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 696 H(i,j) = qeterm(i,j);
NaotoMorita 22:7d84b8bc20b4 697 }
NaotoMorita 22:7d84b8bc20b4 698 }
NaotoMorita 22:7d84b8bc20b4 699 H(1,4) = 1.0f*(dcm(1,1));
NaotoMorita 22:7d84b8bc20b4 700 H(1,5) = 1.0f*(dcm(2,1));
NaotoMorita 22:7d84b8bc20b4 701 H(1,6) = 1.0f*(dcm(3,1));
NaotoMorita 22:7d84b8bc20b4 702 H(2,4) = 1.0f*(dcm(1,2));
NaotoMorita 22:7d84b8bc20b4 703 H(2,5) = 1.0f*(dcm(2,2));
NaotoMorita 22:7d84b8bc20b4 704 H(2,6) = 1.0f*(dcm(3,2));
NaotoMorita 22:7d84b8bc20b4 705
NaotoMorita 22:7d84b8bc20b4 706 Matrix nomVb = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 707 qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 22:7d84b8bc20b4 708 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 709 H(3,j) = -qeterm(1,j);
NaotoMorita 22:7d84b8bc20b4 710 H(4,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 711 //H(3,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 712 H(3,9+j) = -dcm(1,j);
NaotoMorita 22:7d84b8bc20b4 713 H(4,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 714 //H(3,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 715 }
NaotoMorita 22:7d84b8bc20b4 716
NaotoMorita 22:7d84b8bc20b4 717 Matrix R(4,4);
NaotoMorita 22:7d84b8bc20b4 718 R(1,1) = Rgsc(1,1);
NaotoMorita 22:7d84b8bc20b4 719 R(2,2) = Rgsc(2,1);
NaotoMorita 22:7d84b8bc20b4 720 R(3,3) = Rvsc(1,1);
NaotoMorita 22:7d84b8bc20b4 721 R(4,4) = Rvsc(2,1);
NaotoMorita 22:7d84b8bc20b4 722 //R(5,5) = Rvsc(3,1);
NaotoMorita 22:7d84b8bc20b4 723 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 22:7d84b8bc20b4 724 Matrix z(4,1);
NaotoMorita 22:7d84b8bc20b4 725 z <<dcm(1,1)*gyro.x+dcm(2,1)*gyro.y+dcm(3,1)*gyro.z<< dcm(1,2)*gyro.x+dcm(2,2)*gyro.y+dcm(3,2)*gyro.z << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 22:7d84b8bc20b4 726 Matrix corrVal = K * (z-H*errState);
NaotoMorita 22:7d84b8bc20b4 727 errState = errState + corrVal;
NaotoMorita 22:7d84b8bc20b4 728 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 22:7d84b8bc20b4 729 }
NaotoMorita 22:7d84b8bc20b4 730
NaotoMorita 22:7d84b8bc20b4 731 void ScErrStateEKF::computeVb(Vector3& vb)
NaotoMorita 22:7d84b8bc20b4 732 {
NaotoMorita 22:7d84b8bc20b4 733 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 734 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 735 Matrix vbmat = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 736 vb.x = vbmat(1,1);
NaotoMorita 22:7d84b8bc20b4 737 vb.y = vbmat(2,1);
NaotoMorita 22:7d84b8bc20b4 738 vb.z = vbmat(3,1);
NaotoMorita 22:7d84b8bc20b4 739
NaotoMorita 22:7d84b8bc20b4 740 }
NaotoMorita 26:73c3f58b9d70 741
NaotoMorita 26:73c3f58b9d70 742 void ScErrStateEKF::updateMagMeasures(Vector3 mag)
NaotoMorita 26:73c3f58b9d70 743 {
NaotoMorita 26:73c3f58b9d70 744 //mag = mag/mag.Norm();
NaotoMorita 26:73c3f58b9d70 745 Matrix dcm(3,3);
NaotoMorita 26:73c3f58b9d70 746 computeDcm(dcm, qhat);
NaotoMorita 26:73c3f58b9d70 747
NaotoMorita 26:73c3f58b9d70 748 Matrix magvec(3,1);
NaotoMorita 26:73c3f58b9d70 749 magvec(1,1) = mag.x;
NaotoMorita 26:73c3f58b9d70 750 magvec(2,1) = mag.y;
NaotoMorita 26:73c3f58b9d70 751 magvec(3,1) = mag.z;
NaotoMorita 26:73c3f58b9d70 752
NaotoMorita 26:73c3f58b9d70 753 Matrix magnedvec = MatrixMath::Transpose(dcm)*magvec;
NaotoMorita 26:73c3f58b9d70 754 Matrix magrefmod(3,1);
NaotoMorita 26:73c3f58b9d70 755 magrefmod(1,1) = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1));
NaotoMorita 26:73c3f58b9d70 756 magrefmod(2,1) = 0.0f;
NaotoMorita 26:73c3f58b9d70 757 magrefmod(3,1) = magnedvec(3,1);
NaotoMorita 26:73c3f58b9d70 758
NaotoMorita 26:73c3f58b9d70 759 Matrix mvec = dcm*magrefmod ;
NaotoMorita 26:73c3f58b9d70 760 Matrix H(3,nState);
NaotoMorita 26:73c3f58b9d70 761 H(1,2) = -2.0f*magvec(3,1);
NaotoMorita 26:73c3f58b9d70 762 H(1,3) = 2.0f*magvec(2,1);
NaotoMorita 26:73c3f58b9d70 763 H(2,1) = 2.0f*magvec(3,1);
NaotoMorita 26:73c3f58b9d70 764 H(2,3) = -2.0f*magvec(1,1);
NaotoMorita 26:73c3f58b9d70 765 H(3,1) = -2.0f*magvec(2,1);
NaotoMorita 26:73c3f58b9d70 766 H(3,2) = 2.0f*magvec(1,1);
NaotoMorita 26:73c3f58b9d70 767 Matrix Pm(nState,nState);
NaotoMorita 26:73c3f58b9d70 768 for(int i = 1; i<4; i++){
NaotoMorita 26:73c3f58b9d70 769 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 770 Pm(i,j) = Phat(i,j);
NaotoMorita 26:73c3f58b9d70 771 }
NaotoMorita 26:73c3f58b9d70 772 }
NaotoMorita 26:73c3f58b9d70 773 Matrix r3(3,1);
NaotoMorita 26:73c3f58b9d70 774 r3 << dcm(1,3)<< dcm(2,3) << dcm(3,3);
NaotoMorita 26:73c3f58b9d70 775 Matrix kpart = r3*MatrixMath::Transpose(r3);
NaotoMorita 26:73c3f58b9d70 776 Matrix Kmod(nState,nState);
NaotoMorita 26:73c3f58b9d70 777 for(int i = 1; i<4; i++){
NaotoMorita 26:73c3f58b9d70 778 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 779 Kmod(i,j) = kpart(i,j);
NaotoMorita 26:73c3f58b9d70 780 }
NaotoMorita 26:73c3f58b9d70 781 }
NaotoMorita 26:73c3f58b9d70 782
NaotoMorita 26:73c3f58b9d70 783 Matrix K = Kmod*(Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rm);
NaotoMorita 26:73c3f58b9d70 784 Matrix z = magvec-mvec;
NaotoMorita 26:73c3f58b9d70 785 errState = errState + K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 786 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rm)*MatrixMath::Transpose(K);
NaotoMorita 26:73c3f58b9d70 787 }
NaotoMorita 26:73c3f58b9d70 788
NaotoMorita 26:73c3f58b9d70 789 void ScErrStateEKF::updateVelocityConstraints()
NaotoMorita 26:73c3f58b9d70 790 {
NaotoMorita 26:73c3f58b9d70 791
NaotoMorita 26:73c3f58b9d70 792 Matrix dcm(3,3);
NaotoMorita 26:73c3f58b9d70 793 computeDcm(dcm, qhat);
NaotoMorita 26:73c3f58b9d70 794 Matrix H(2,nState);
NaotoMorita 26:73c3f58b9d70 795
NaotoMorita 26:73c3f58b9d70 796 Matrix nomVb = dcm*vihat;
NaotoMorita 26:73c3f58b9d70 797 Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 26:73c3f58b9d70 798 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 799 H(1,j) = -qeterm(1,j);
NaotoMorita 26:73c3f58b9d70 800 H(2,j) = -qeterm(3,j);
NaotoMorita 26:73c3f58b9d70 801 //H(3,j) = -qeterm(3,j);
NaotoMorita 26:73c3f58b9d70 802 H(1,9+j) = -dcm(1,j);
NaotoMorita 26:73c3f58b9d70 803 H(2,9+j) = -dcm(3,j);
NaotoMorita 26:73c3f58b9d70 804 //H(3,9+j) = -dcm(3,j);
NaotoMorita 26:73c3f58b9d70 805 }
NaotoMorita 26:73c3f58b9d70 806
NaotoMorita 26:73c3f58b9d70 807 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc);
NaotoMorita 26:73c3f58b9d70 808 Matrix z(2,1);
NaotoMorita 26:73c3f58b9d70 809 z << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 26:73c3f58b9d70 810 Matrix corrVal = K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 811 errState = errState + corrVal;
NaotoMorita 26:73c3f58b9d70 812 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K);
NaotoMorita 26:73c3f58b9d70 813
NaotoMorita 26:73c3f58b9d70 814 }
NaotoMorita 22:7d84b8bc20b4 815 */
NaotoMorita 22:7d84b8bc20b4 816
NaotoMorita 22:7d84b8bc20b4 817