HAPSRG
Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: ScErrStateEKF.cpp
- Revision:
- 36:b1d107b00351
- Parent:
- 32:321a756e12ad
--- a/ScErrStateEKF.cpp Wed Sep 29 06:32:38 2021 +0000
+++ b/ScErrStateEKF.cpp Wed Sep 29 13:15:33 2021 +0000
@@ -8,13 +8,12 @@
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);
- setDiag(Phatbg,0.1f);
setQqerr(0.000005f);
setQgbias(0.001f);
setQabias(0.00001f);
@@ -79,8 +78,8 @@
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);
}
}
@@ -96,20 +95,20 @@
}
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);
@@ -143,19 +142,6 @@
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);
-
-}
-
-void ScErrStateEKF::getAccBias(float (&resVal)[3], float (&resCov)[6]){
- 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);
@@ -166,6 +152,7 @@
}
+
void ScErrStateEKF::updateAccMeasures(Vector3 acc, Vector3 accref)
{
acc -= accBias;
@@ -179,9 +166,9 @@
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);
@@ -194,20 +181,20 @@
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);
}
@@ -246,12 +233,12 @@
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);
@@ -283,10 +270,10 @@
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);
@@ -311,34 +298,34 @@
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)
@@ -374,12 +361,12 @@
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)