HAPSRG
Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: ScErrStateEKF.cpp
- Revision:
- 38:1f6532849c05
- Parent:
- 34:dec4b37db3f1
- Child:
- 39:6834e05d8a64
--- a/ScErrStateEKF.cpp Fri Oct 08 08:11:17 2021 +0000
+++ b/ScErrStateEKF.cpp Sun Oct 10 09:15:29 2021 +0000
@@ -8,16 +8,18 @@
using namespace std;
ScErrStateEKF::ScErrStateEKF()
- :qhat(4,1),vihat(3,1), errState(9,1), bgState(3,1), Phat(9,9), Q(9,9),Phatbg(3,3),Qbg(3,3), 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)
+ :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)
{
nState = errState.getRows();
qhat << 1.0f << 0.0f << 0.0f << 0.0f;
setDiag(Phat,0.1f); //0.1
- setDiag(Phatbg,0.0001f);
- setQqerr(0.0000005f); //0.000005
- setQgbias(0.001f);
- setQabias(0.00001f);
+ Phat(4,4) = 0.00001;
+ Phat(5,5) = 0.00001;
+ Phat(6,6) = 0.00001;
+ setQqerr(0.000005f); //0.000005
+ setQgbias(0.0001f);
+ setQabias(0.0001f);
setQv(0.0001f);
//加速度の観測
@@ -75,6 +77,9 @@
A(2,3) = gyro.x;
A(3,1) = gyro.y;
A(3,2) = -gyro.x;
+ A(1,4) = -0.5f;
+ A(2,5) = -0.5f;
+ A(3,6) = -0.5f;
Matrix dcm(3,3);
computeDcm(dcm, qhat);
@@ -82,8 +87,8 @@
Matrix baterm = -9.8f*MatrixMath::Transpose(dcm);
for (int i = 1; i < 4; i++){
for (int j = 1; i < 4; i++){
- A(i+6,j) = qeterm(i,j);
- A(i+6,j+3) = baterm(i,j);
+ A(i+9,j) = qeterm(i,j);
+ A(i+9,j+6) = baterm(i,j);
}
}
@@ -99,20 +104,20 @@
}
void ScErrStateEKF::setQgbias(float val){
- Qbg(1,1) = val;
- Qbg(2,2) = val;
- Qbg(2,2) = val;
-}
-void ScErrStateEKF::setQabias(float val){
Q(4,4) = val;
Q(5,5) = val;
Q(6,6) = val;
}
-void ScErrStateEKF::setQv(float val){
+void ScErrStateEKF::setQabias(float val){
Q(7,7) = val;
Q(8,8) = val;
Q(9,9) = val;
}
+void ScErrStateEKF::setQv(float val){
+ Q(10,10) = val;
+ Q(11,11) = val;
+ Q(12,12) = val;
+}
void ScErrStateEKF::setQab(float val){
setDiag(Qab,val);
@@ -146,12 +151,12 @@
resVal[0] = gyroBias.x;
resVal[1] = gyroBias.y;
resVal[2] = gyroBias.z;
- resCov[0] = Phatbg(1,1);
- resCov[1] = Phatbg(1,2);
- resCov[2] = Phatbg(1,3);
- resCov[3] = Phatbg(2,2);
- resCov[4] = Phatbg(2,3);
- resCov[5] = Phatbg(3,3);
+ resCov[0] = Phat(4,4);
+ resCov[1] = Phat(4,5);
+ resCov[2] = Phat(4,6);
+ resCov[3] = Phat(5,5);
+ resCov[4] = Phat(5,6);
+ resCov[5] = Phat(6,6);
}
@@ -159,12 +164,12 @@
resVal[0] = accBias.x;
resVal[1] = accBias.y;
resVal[2] = accBias.z;
- resCov[0] = Phat(4,4);
- resCov[1] = Phat(4,5);
- resCov[2] = Phat(4,6);
- resCov[3] = Phat(5,5);
- resCov[4] = Phat(5,6);
- resCov[5] = Phat(6,6);
+ resCov[0] = Phat(7,7);
+ resCov[1] = Phat(7,8);
+ resCov[2] = Phat(7,9);
+ resCov[3] = Phat(8,8);
+ resCov[4] = Phat(8,9);
+ resCov[5] = Phat(9,9);
}
@@ -182,9 +187,9 @@
H(2,3) = -2.0f*gvec.x;
H(3,1) = -2.0f*gvec.y;
H(3,2) = 2.0f*gvec.x;
- H(1,4) = 1.0f;
- H(2,5) = 1.0f;
- H(3,6) = 1.0f;
+ H(1,7) = 1.0f;
+ H(2,8) = 1.0f;
+ H(3,9) = 1.0f;
Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra+Qab);
Matrix z = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
Matrix corrVal = K * (z-H*errState);
@@ -197,20 +202,20 @@
gyro -= gyroBias;
Matrix dcm(3,3);
computeDcm(dcm, qhat);
- Matrix H(2,3);
- H(1,1) = 1.0f*(dcm(1,1));
- H(1,2) = 1.0f*(dcm(2,1));
- H(1,3) = 1.0f*(dcm(3,1));
- H(2,1) = 1.0f*(dcm(1,2));
- H(2,2) = 1.0f*(dcm(2,2));
- H(2,3) = 1.0f*(dcm(3,2));
+ Matrix H(2,nState);
+ H(1,4) = 1.0f*(dcm(1,1));
+ H(1,5) = 1.0f*(dcm(2,1));
+ H(1,6) = 1.0f*(dcm(3,1));
+ H(2,4) = 1.0f*(dcm(1,2));
+ H(2,5) = 1.0f*(dcm(2,2));
+ H(2,6) = 1.0f*(dcm(3,2));
- Matrix K = (Phatbg*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phatbg*MatrixMath::Transpose(H)+Rgsc);
+ Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rgsc);
Matrix z(2,1);
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;
- Matrix corrVal = K * (z-H*bgState);
- bgState = bgState + corrVal;
- Phatbg = (MatrixMath::Eye(3)-K*H)*Phatbg*MatrixMath::Transpose(MatrixMath::Eye(3)-K*H)+K*(Rgsc)*MatrixMath::Transpose(K);
+ Matrix corrVal = K * (z-H*errState);
+ errState = errState + corrVal;
+ Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgsc)*MatrixMath::Transpose(K);
}
@@ -249,12 +254,12 @@
H(2,3) = -2.0f*gvec.x;
H(3,1) = -2.0f*gvec.y;
H(3,2) = 2.0f*gvec.x;
- H(1,4) = 1.0f;
- H(2,5) = 1.0f;
- H(3,6) = 1.0f;
- H(4,7) = 1.0f;
- H(5,8) = 1.0f;
- H(6,9) = 1.0f;
+ H(1,7) = 1.0f;
+ H(2,8) = 1.0f;
+ H(3,9) = 1.0f;
+ H(4,10) = 1.0f;
+ H(5,11) = 1.0f;
+ H(6,12) = 1.0f;
Matrix R(6,6);
R(1,1) = Ra(1,1)+Qab(1,1);
@@ -286,10 +291,10 @@
H(2,3) = -2.0f*gvec.x;
H(3,1) = -2.0f*gvec.y;
H(3,2) = 2.0f*gvec.x;
- H(1,4) = 1.0f;
- H(2,5) = 1.0f;
- H(3,6) = 1.0f;
- H(4,9) = 1.0f;
+ H(1,7) = 1.0f;
+ H(2,8) = 1.0f;
+ H(3,9) = 1.0f;
+ H(4,12) = 1.0f;
Matrix R(4,4);
R(1,1) = Ra(1,1)+Qab(1,1);
@@ -314,34 +319,34 @@
RgyroBias(i,i) = 0.1f;
}
- Matrix H(3,3);
- H(1,1) = 1.0f;
- H(2,2) = 1.0f;
- H(3,3) = 1.0f;
+ Matrix H(3,nState);
+ H(1,4) = 1.0f;
+ H(2,5) = 1.0f;
+ H(3,6) = 1.0f;
- Matrix K = (Phatbg*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phatbg*MatrixMath::Transpose(H)+RgyroBias);
+ Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RgyroBias);
Matrix z(3,1);
z <<cBg[0]-gyroBias.x <<cBg[1]-gyroBias.y <<cBg[2]-gyroBias.z;
- Matrix corrVal = K * (z-H*bgState);
- bgState = bgState + corrVal;
- Phatbg = (MatrixMath::Eye(3)-K*H)*Phatbg*MatrixMath::Transpose(MatrixMath::Eye(3)-K*H)+K*(RgyroBias)*MatrixMath::Transpose(K);
+ Matrix corrVal = K * (z-H*errState);
+ errState = errState + corrVal;
+ Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RgyroBias)*MatrixMath::Transpose(K);
}
void ScErrStateEKF::resetBias()
{
- gyroBias.x = gyroBias.x + bgState(1,1)*1.0f;
- gyroBias.y = gyroBias.y + bgState(2,1)*1.0f;
- gyroBias.z = gyroBias.z + bgState(3,1)*1.0f;
- bgState(1,1) = 0.0f;
- bgState(2,1) = 0.0f;
- bgState(3,1) = 0.0f;
- accBias.x = accBias.x + errState(4,1);
- accBias.y = accBias.y + errState(5,1);
- accBias.z = accBias.z + errState(6,1);
+ gyroBias.x = gyroBias.x + errState(4,1)*1.0f;
+ gyroBias.y = gyroBias.y + errState(5,1)*1.0f;
+ gyroBias.z = gyroBias.z + errState(6,1)*1.0f;
errState(4,1) = 0.0f;
errState(5,1) = 0.0f;
errState(6,1) = 0.0f;
+ accBias.x = accBias.x + errState(7,1);
+ accBias.y = accBias.y + errState(8,1);
+ accBias.z = accBias.z + errState(9,1);
+ errState(7,1) = 0.0f;
+ errState(8,1) = 0.0f;
+ errState(9,1) = 0.0f;
}
void ScErrStateEKF::computeAngles(Vector3& rpy,Vector3 rpy_align)
@@ -377,12 +382,12 @@
float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
qhat *= (1.0f/ qnorm);
- vihat(1,1) += errState(7,1);
- vihat(2,1) += errState(8,1);
- vihat(3,1) += errState(9,1);
- errState(7,1) = 0.0f;
- errState(8,1) = 0.0f;
- errState(9,1) = 0.0f;
+ vihat(1,1) += errState(10,1);
+ vihat(2,1) += errState(11,1);
+ vihat(3,1) += errState(12,1);
+ errState(10,1) = 0.0f;
+ errState(11,1) = 0.0f;
+ errState(12,1) = 0.0f;
}
Matrix ScErrStateEKF::quatmultiply(Matrix q, Matrix r)