Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-11-10
- Revision:
- 56:c10f1168bd4a
- Parent:
- 55:21611d4cf7e8
- Child:
- 58:93ba28cf5cb3
File content as of revision 56:c10f1168bd4a:
#include "solaESKF.hpp" solaESKF::solaESKF() :pihat(3,1),vihat(3,1),qhat(4,1),accBias(3,1),gyroBias(3,1),gravity(3,1),magField(3,1),errState(19,1),Phat(19,19),Q(19,19) { pihat << 0.0f << 0.0f << 0.0f; vihat << 0.0f << 0.0f << 0.0f; qhat << 1.0f << 0.0f << 0.0f << 0.0f; accBias << 0.0f << 0.0f << 0.0f; gyroBias << 0.0f << 0.0f << 0.0f; gravity << 0.0f << 0.0f << 9.8f; magField << -0.2f << -0.0f << 0.0f; for (int i = 1; i < 20; i++){ errState(i,1) = 0.0f; for (int j = 1; j < 20; j++){ Phat(i,j) = 0.0f; Q(i,j) = 0.0f; } } nState = errState.getRows(); setBlockDiag(Phat,0.1f,1,3);//position setBlockDiag(Phat,0.1f,4,6);//velocity setBlockDiag(Phat,0.1f,7,9);//angle error setBlockDiag(Phat,0.1f,10,12);//acc bias setBlockDiag(Phat,0.1f,13,15);//gyro bias setBlockDiag(Phat,0.00000001f,16,18);//gravity setBlockDiag(Phat,0.1f,19,19);//gravity setBlockDiag(Q,0.00025f,4,6);//velocity setBlockDiag(Q,0.005f/57.0f,7,9);//angle error setBlockDiag(Q,0.001f,10,12);//acc bias setBlockDiag(Q,0.001f,13,15);//gyro bias setBlockDiag(Q,0.001f,19,19);//mag field //positionとgravityはQ項なし } void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt) { Matrix gyrom = gyro - gyroBias; Matrix accm = acc - accBias; Matrix qint(4,1); qint << 1.0f << 0.5f*gyrom(1,1)*att_dt << 0.5f*gyrom(2,1)*att_dt << 0.5f*gyrom(3,1)*att_dt; qhat = quatmultiply(qhat,qint); float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); qhat *= (1.0f/ qnorm); Matrix dcm(3,3); computeDcm(dcm, qhat); Matrix accned = dcm*accm+gravity; vihat += accned*att_dt; pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt; } void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt) { Matrix gyrom = gyro - gyroBias; Matrix accm = acc - accBias; Matrix dcm(3,3); computeDcm(dcm, qhat); Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1)); Matrix A(nState,nState); //position A(1,4) = 1.0f; A(2,5) = 1.0f; A(3,6) = 1.0f; //velocity for (int i = 1; i < 4; i++){ for (int j = 1; j < 4; j++){ A(i+3,j+6) = a2v(i,j); A(i+3,j+9) = -dcm(i,j); } } A(4,16) = 1.0f; A(5,17) = 1.0f; A(6,18) = 1.0f; //angulat error A(7,8) = gyrom(3,1); A(7,9) = -gyrom(2,1); A(8,7) = -gyrom(3,1); A(8,9) = gyrom(1,1); A(9,7) = gyrom(2,1); A(9,8) = -gyrom(1,1); A(7,13) = -1.0f; A(8,14) = -1.0f; A(9,15) = -1.0f; Matrix Fx = MatrixMath::Eye(nState) + A * att_dt;// + (0.5f*att_dt*att_dt) * A * A; Matrix Qd = Q * att_dt + 0.5f*A*Q * att_dt * att_dt+ 0.5f*Q*MatrixMath::Transpose(A) * att_dt * att_dt; errState = Fx * errState; Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Qd; } void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R) { Matrix accm = acc - accBias; Matrix dcm(3,3); computeDcm(dcm, qhat); Matrix tdcm = MatrixMath::Transpose(dcm); Matrix tdcm_g = tdcm*gravity; Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); Matrix a2v2 = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); Matrix H(5,nState); for (int j = 1; j < 4; j++){ for (int i = 1; i < 4; i++){ H(i,j+6) = a2v(i,j); H(i,j+15) = tdcm(i,j); } H(4,j+6) = a2v2(1,j); H(5,j+6) = a2v2(2,j); } H(1,10) = -1.0f; H(2,11) = -1.0f; H(3,12) = -1.0f; H(4,19) = 1.0f; //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); Matrix zacc = -accm-tdcm*gravity; Matrix zmag = -dcm*mag-magField; Matrix z(5,1); z << zacc(1,1) << zacc(2,1) << zacc(3,1) << zmag(1,1) << zmag(2,1); errState = K * z; Phat = (MatrixMath::Eye(nState)-K*H)*Phat; //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); fuseErr2Nominal(); } void solaESKF::updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R) { Matrix H(5,nState); H(1,1) = 1.0f; H(2,2) = 1.0f; H(3,3) = 1.0f; H(4,4) = 1.0f; H(5,5) = 1.0f; //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); Matrix z(5,1); z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1) << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1); errState = K * z; Phat = (MatrixMath::Eye(nState)-K*H)*Phat; //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); fuseErr2Nominal(); } Matrix solaESKF::computeAngles() { Matrix euler(3,1); euler(1,1) = atan2f(qhat(1,1)*qhat(2,1) + qhat(3,1)*qhat(4,1), 0.5f - qhat(2,1)*qhat(2,1) - qhat(3,1)*qhat(3,1)); euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1))); euler(3,1) = atan2f(qhat(2,1)*qhat(3,1) + qhat(1,1)*qhat(4,1), 0.5f - qhat(3,1)*qhat(3,1) - qhat(4,1)*qhat(4,1)); return euler; } void solaESKF::fuseErr2Nominal() { //position pihat(1,1) += errState(1,1); pihat(2,1) += errState(2,1); pihat(3,1) += errState(3,1); //velocity vihat(1,1) += errState(4,1); vihat(2,1) += errState(5,1); vihat(3,1) += errState(6,1); //angle error Matrix qerr(4,1); qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1); qhat = quatmultiply(qhat, qerr); float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); qhat *= (1.0f/ qnorm); //acc bias accBias(1,1) += errState(10,1); accBias(2,1) += errState(11,1); accBias(3,1) += errState(12,1); //gyro bias gyroBias(1,1) += errState(13,1); gyroBias(2,1) += errState(14,1); gyroBias(3,1) += errState(15,1); //gravity bias gravity(1,1) += errState(16,1); gravity(2,1) += errState(17,1); gravity(3,1) += errState(18,1); //gravity bias magField(1,1) += errState(19,1); magField(2,1) = 0.0f; magField(3,1) = 0.0f; for (int i = 1; i < 20; i++){ errState(i,1) = 0.0f; } } Matrix solaESKF::quatmultiply(Matrix p, Matrix q) { Matrix qout(4,1); qout(1,1) = p(1,1)*q(1,1) - p(2,1)*q(2,1) - p(3,1)*q(3,1) - p(4,1)*q(4,1); qout(2,1) = p(1,1)*q(2,1) + p(2,1)*q(1,1) + p(3,1)*q(4,1) - p(4,1)*q(3,1); qout(3,1) = p(1,1)*q(3,1) - p(2,1)*q(4,1) + p(3,1)*q(1,1) + p(4,1)*q(2,1); qout(4,1) = p(1,1)*q(4,1) + p(2,1)*q(3,1) - p(3,1)*q(2,1) + p(4,1)*q(1,1); float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); qout *= (1.0f/ qnorm); return qout; } void solaESKF::computeDcm(Matrix& dcm, Matrix quat) { 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); dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1)); dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1)); dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1)); 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); dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1)); dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1)); dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1)); 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); } void solaESKF::setQhat(float ex,float ey,float ez) { float cos_z_2 = cosf(0.5f*ez); float cos_y_2 = cosf(0.5f*ey); float cos_x_2 = cosf(0.5f*ex); float sin_z_2 = sinf(0.5f*ez); float sin_y_2 = sinf(0.5f*ey); float sin_x_2 = sinf(0.5f*ex); // and now compute quaternion qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; } void solaESKF::setGravity(float gx,float gy,float gz) { gravity(1,1) = gx; gravity(2,1) = gy; gravity(3,1) = gz; } Matrix solaESKF::getPihat() { return pihat; } Matrix solaESKF::getVihat() { return vihat; } Matrix solaESKF::getQhat() { return qhat; } Matrix solaESKF::getAccBias() { return accBias; } Matrix solaESKF::getGyroBias() { return gyroBias; } Matrix solaESKF::getGravity() { return gravity; } Matrix solaESKF::getMagField() { return magField; } Matrix solaESKF::getErrState() { return errState; } void solaESKF::setPhatPosition(float val) { setBlockDiag(Phat,val,1,3); } void solaESKF::setPhatVelocity(float val) { setBlockDiag(Phat,val,4,6); } void solaESKF::setPhatAngleError(float val) { setBlockDiag(Phat,val,7,9); } void solaESKF::setPhatAccBias(float val) { setBlockDiag(Phat,val,10,12); } void solaESKF::setPhatGyroBias(float val) { setBlockDiag(Phat,val,13,15); } void solaESKF::setPhatGravity(float val) { setBlockDiag(Phat,val,16,18); } void solaESKF::setPhatMagField(float val) { setBlockDiag(Phat,val,19,19); } void solaESKF::setQVelocity(float val) { setBlockDiag(Q,val,4,6); } void solaESKF::setQAngleError(float val) { setBlockDiag(Q,val,7,9); } void solaESKF::setQAccBias(float val) { setBlockDiag(Q,val,10,12); } void solaESKF::setQGyroBias(float val) { setBlockDiag(Q,val,13,15); } void solaESKF::setQMagField(float val) { setBlockDiag(Q,val,19,19); } void solaESKF::setDiag(Matrix& mat, float val){ for (int i = 1; i < mat.getCols()+1; i++){ mat(i,i) = val; } } void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){ for (int i = startIndex; i < endIndex+1; i++){ mat(i,i) = val; } } void solaESKF::setPihat(float pi_x, float pi_y, float pi_z) { pihat(1,1) = pi_x; pihat(2,1) = pi_y; pihat(3,1) = pi_z; } void solaESKF::setMagField(float hx, float hy, float hz) { magField(1,1) = -sqrt(hx*hx+hy*hy); magField(2,1) = 0.0f; magField(3,1) = 0.0f; } /* void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R) { Matrix accm = acc - accBias; Matrix tdcm(3,3); computeDcm(tdcm, qhat); tdcm = MatrixMath::Transpose(tdcm); Matrix tdcm_g = tdcm*gravity; Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); Matrix H(4,nState); for (int i = 1; i < 4; i++){ for (int j = 1; j < 4; j++){ H(i,j+6) = a2v(i,j); H(i,j+15) = tdcm(i,j); } } H(1,10) = -1.0f; H(2,11) = -1.0f; H(3,12) = -1.0f; H(4,3) = 1.0f; //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); Matrix zacc = -accm-tdcm*gravity; Matrix z(4,1); z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1); errState = K * z; Phat = (MatrixMath::Eye(nState)-K*H)*Phat; //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); fuseErr2Nominal(); } void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R) { Matrix gyrom = gyro - gyroBias; Matrix dcm(3,3); computeDcm(dcm, qhat); Matrix a2v = dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1)); Matrix H(2,nState); for (int i = 1; i < 3; i++){ for (int j = 1; j < 4; j++){ H(i,j+6) = a2v(i,j); H(i,j+12) = -dcm(i,j); } } //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A)); Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); Matrix z3 = -dcm*gyrom; Matrix z(2,1); z << z3(1,1) << z3(2,1); errState = K * z; //Phat = (MatrixMath::Eye(nState)-K*H)*Phat; //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); fuseErr2Nominal(); } void solaESKF::updateMag(Matrix mag, Matrix R) { Matrix dcm(3,3); computeDcm(dcm, qhat); Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); Matrix H(2,nState); for (int i = 1; i < 3; i++){ for (int j = 1; j < 4; j++){ H(i,j+6) = a2v(i,j); } } H(1,19) = 1.0f; //H(3,20) = 1.0f; //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); Matrix zmag = -dcm*mag-magField; Matrix z(2,1); z << zmag(1,1) << zmag(2,1); errState = K * z; Phat = (MatrixMath::Eye(nState)-K*H)*Phat; //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); fuseErr2Nominal(); } void solaESKF::updateGPSVelocity(Matrix velgps,Matrix R) { Matrix H(3,nState); H(1,4) = 1.0f; H(2,5) = 1.0f; H(3,6) = 1.0f; //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); Matrix z(3,1); z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << velgps(3,1) - vihat(3,1); errState = K * z; Phat = (MatrixMath::Eye(nState)-K*H)*Phat; //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); fuseErr2Nominal(); } void solaESKF::updateGPSPosition(Matrix posgps,Matrix R) { Matrix H(2,nState); H(1,1) = 1.0f; H(2,2) = 1.0f; //H(3,3) = 1.0f; //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); Matrix z(2,1); z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1); //<< posgps(3,1) - pihat(3,1); errState = K * z; Phat = (MatrixMath::Eye(nState)-K*H)*Phat; //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); fuseErr2Nominal(); } */