Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.cpp@68:264a7e0e4a29, 2021-11-18 (annotated)
- Committer:
- NaotoMorita
- Date:
- Thu Nov 18 10:10:07 2021 +0000
- Revision:
- 68:264a7e0e4a29
- Parent:
- 66:6a093cb91728
- Child:
- 69:2b2815603e5a
- Child:
- 70:d12e46fdc2f0
good estimate;
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 | 19:3fae66745363 | 3 | |
NaotoMorita | 19:3fae66745363 | 4 | |
NaotoMorita | 44:7d82e63b6a86 | 5 | solaESKF::solaESKF() |
NaotoMorita | 62:5519d34eb6e8 | 6 | :pihat(3,1),vihat(3,1),qhat(4,1),accBias(3,1),gyroBias(3,1),gravity(3,1),magBias(3,1),errState(20,1),Phat(20,20),Q(20,20) |
NaotoMorita | 62:5519d34eb6e8 | 7 | { |
NaotoMorita | 46:15988dc41923 | 8 | pihat << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 9 | vihat << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 10 | qhat << 1.0f << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 11 | accBias << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 12 | gyroBias << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 46:15988dc41923 | 13 | gravity << 0.0f << 0.0f << 9.8f; |
NaotoMorita | 62:5519d34eb6e8 | 14 | magBias << 0.0f << 0.0f << 0.0f; |
NaotoMorita | 62:5519d34eb6e8 | 15 | magRadius = 0.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 16 | |
NaotoMorita | 62:5519d34eb6e8 | 17 | nState = errState.getRows(); |
NaotoMorita | 62:5519d34eb6e8 | 18 | |
NaotoMorita | 58:93ba28cf5cb3 | 19 | for (int i = 1; i < nState+1; i++){ |
NaotoMorita | 46:15988dc41923 | 20 | errState(i,1) = 0.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 21 | for (int j = 1; j < nState+1; j++){ |
NaotoMorita | 46:15988dc41923 | 22 | Phat(i,j) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 23 | Q(i,j) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 24 | } |
NaotoMorita | 46:15988dc41923 | 25 | } |
NaotoMorita | 62:5519d34eb6e8 | 26 | |
NaotoMorita | 46:15988dc41923 | 27 | setBlockDiag(Phat,0.1f,1,3);//position |
NaotoMorita | 46:15988dc41923 | 28 | setBlockDiag(Phat,0.1f,4,6);//velocity |
NaotoMorita | 46:15988dc41923 | 29 | setBlockDiag(Phat,0.1f,7,9);//angle error |
NaotoMorita | 47:2467de40951f | 30 | setBlockDiag(Phat,0.1f,10,12);//acc bias |
NaotoMorita | 47:2467de40951f | 31 | setBlockDiag(Phat,0.1f,13,15);//gyro bias |
NaotoMorita | 62:5519d34eb6e8 | 32 | setBlockDiag(Phat,0.00000001f,16,16);//gravity |
NaotoMorita | 62:5519d34eb6e8 | 33 | setBlockDiag(Phat,0.001f,17,19);//magBias |
NaotoMorita | 62:5519d34eb6e8 | 34 | setBlockDiag(Phat,0.001f,20,20);//magRadius |
NaotoMorita | 47:2467de40951f | 35 | setBlockDiag(Q,0.00025f,4,6);//velocity |
NaotoMorita | 55:21611d4cf7e8 | 36 | setBlockDiag(Q,0.005f/57.0f,7,9);//angle error |
NaotoMorita | 46:15988dc41923 | 37 | setBlockDiag(Q,0.001f,10,12);//acc bias |
NaotoMorita | 62:5519d34eb6e8 | 38 | setBlockDiag(Q,0.001f,13,15);//gyro bias |
NaotoMorita | 62:5519d34eb6e8 | 39 | setBlockDiag(Q,0.001f,17,19);//magRadius |
NaotoMorita | 62:5519d34eb6e8 | 40 | setBlockDiag(Q,0.0001f,20,20);//magRadius //positionとgravityはQ項なし |
NaotoMorita | 19:3fae66745363 | 41 | |
NaotoMorita | 19:3fae66745363 | 42 | } |
NaotoMorita | 19:3fae66745363 | 43 | |
NaotoMorita | 47:2467de40951f | 44 | |
NaotoMorita | 44:7d82e63b6a86 | 45 | void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt) |
NaotoMorita | 19:3fae66745363 | 46 | { |
NaotoMorita | 44:7d82e63b6a86 | 47 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 48 | Matrix accm = acc - accBias; |
NaotoMorita | 44:7d82e63b6a86 | 49 | |
NaotoMorita | 44:7d82e63b6a86 | 50 | Matrix qint(4,1); |
NaotoMorita | 46:15988dc41923 | 51 | qint << 1.0f << 0.5f*gyrom(1,1)*att_dt << 0.5f*gyrom(2,1)*att_dt << 0.5f*gyrom(3,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 52 | qhat = quatmultiply(qhat,qint); |
NaotoMorita | 19:3fae66745363 | 53 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 54 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 55 | |
NaotoMorita | 23:1509648c2318 | 56 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 57 | computeDcm(dcm, qhat); |
NaotoMorita | 46:15988dc41923 | 58 | Matrix accned = dcm*accm+gravity; |
NaotoMorita | 44:7d82e63b6a86 | 59 | vihat += accned*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 60 | |
NaotoMorita | 44:7d82e63b6a86 | 61 | pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt; |
NaotoMorita | 19:3fae66745363 | 62 | } |
NaotoMorita | 19:3fae66745363 | 63 | |
NaotoMorita | 44:7d82e63b6a86 | 64 | void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt) |
NaotoMorita | 23:1509648c2318 | 65 | { |
NaotoMorita | 44:7d82e63b6a86 | 66 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 67 | Matrix accm = acc - accBias; |
NaotoMorita | 23:1509648c2318 | 68 | |
NaotoMorita | 23:1509648c2318 | 69 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 70 | computeDcm(dcm, qhat); |
NaotoMorita | 47:2467de40951f | 71 | Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 72 | |
NaotoMorita | 47:2467de40951f | 73 | Matrix A(nState,nState); |
NaotoMorita | 44:7d82e63b6a86 | 74 | //position |
NaotoMorita | 47:2467de40951f | 75 | A(1,4) = 1.0f; |
NaotoMorita | 47:2467de40951f | 76 | A(2,5) = 1.0f; |
NaotoMorita | 47:2467de40951f | 77 | A(3,6) = 1.0f; |
NaotoMorita | 47:2467de40951f | 78 | |
NaotoMorita | 47:2467de40951f | 79 | //velocity |
NaotoMorita | 46:15988dc41923 | 80 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 46:15988dc41923 | 81 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 47:2467de40951f | 82 | A(i+3,j+6) = a2v(i,j); |
NaotoMorita | 47:2467de40951f | 83 | A(i+3,j+9) = -dcm(i,j); |
NaotoMorita | 47:2467de40951f | 84 | |
NaotoMorita | 23:1509648c2318 | 85 | } |
NaotoMorita | 23:1509648c2318 | 86 | } |
NaotoMorita | 59:03fe5e16a33c | 87 | A(6,16) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 88 | |
NaotoMorita | 44:7d82e63b6a86 | 89 | //angulat error |
NaotoMorita | 47:2467de40951f | 90 | A(7,8) = gyrom(3,1); |
NaotoMorita | 47:2467de40951f | 91 | A(7,9) = -gyrom(2,1); |
NaotoMorita | 47:2467de40951f | 92 | A(8,7) = -gyrom(3,1); |
NaotoMorita | 47:2467de40951f | 93 | A(8,9) = gyrom(1,1); |
NaotoMorita | 47:2467de40951f | 94 | A(9,7) = gyrom(2,1); |
NaotoMorita | 47:2467de40951f | 95 | A(9,8) = -gyrom(1,1); |
NaotoMorita | 47:2467de40951f | 96 | A(7,13) = -1.0f; |
NaotoMorita | 47:2467de40951f | 97 | A(8,14) = -1.0f; |
NaotoMorita | 47:2467de40951f | 98 | A(9,15) = -1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 99 | |
NaotoMorita | 47:2467de40951f | 100 | |
NaotoMorita | 47:2467de40951f | 101 | Matrix Fx = MatrixMath::Eye(nState) + A * att_dt;// + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 59:03fe5e16a33c | 102 | for (int i = 1; i < nState+1; i++){ |
NaotoMorita | 59:03fe5e16a33c | 103 | if(i>3 && i<10){ |
NaotoMorita | 59:03fe5e16a33c | 104 | Q(i,i) *=att_dt; |
NaotoMorita | 59:03fe5e16a33c | 105 | }else if(i>9 && i<16){ |
NaotoMorita | 59:03fe5e16a33c | 106 | Q(i,i) *= att_dt*att_dt; |
NaotoMorita | 59:03fe5e16a33c | 107 | }else if(i>16 && i<nState+1){ |
NaotoMorita | 59:03fe5e16a33c | 108 | Q(i,i) *=att_dt*att_dt; |
NaotoMorita | 59:03fe5e16a33c | 109 | }else{ |
NaotoMorita | 59:03fe5e16a33c | 110 | Q(i,i) = 0.0f; |
NaotoMorita | 59:03fe5e16a33c | 111 | } |
NaotoMorita | 59:03fe5e16a33c | 112 | } |
NaotoMorita | 44:7d82e63b6a86 | 113 | errState = Fx * errState; |
NaotoMorita | 59:03fe5e16a33c | 114 | Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Q; |
NaotoMorita | 25:07ac5c6cd61c | 115 | } |
NaotoMorita | 25:07ac5c6cd61c | 116 | |
NaotoMorita | 61:5e5c4fe12440 | 117 | void solaESKF::updateAcc(Matrix acc,Matrix R) |
NaotoMorita | 46:15988dc41923 | 118 | { |
NaotoMorita | 46:15988dc41923 | 119 | Matrix accm = acc - accBias; |
NaotoMorita | 56:c10f1168bd4a | 120 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 121 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 122 | Matrix tdcm = MatrixMath::Transpose(dcm); |
NaotoMorita | 46:15988dc41923 | 123 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 59:03fe5e16a33c | 124 | Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 46:15988dc41923 | 125 | |
NaotoMorita | 61:5e5c4fe12440 | 126 | Matrix H(3,nState); |
NaotoMorita | 59:03fe5e16a33c | 127 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 59:03fe5e16a33c | 128 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 59:03fe5e16a33c | 129 | H(i,j+6) = rotgrav(i,j); |
NaotoMorita | 46:15988dc41923 | 130 | } |
NaotoMorita | 59:03fe5e16a33c | 131 | H(i,16) = tdcm(i,3); |
NaotoMorita | 58:93ba28cf5cb3 | 132 | } |
NaotoMorita | 56:c10f1168bd4a | 133 | |
NaotoMorita | 46:15988dc41923 | 134 | H(1,10) = -1.0f; |
NaotoMorita | 46:15988dc41923 | 135 | H(2,11) = -1.0f; |
NaotoMorita | 46:15988dc41923 | 136 | H(3,12) = -1.0f; |
NaotoMorita | 59:03fe5e16a33c | 137 | |
NaotoMorita | 61:5e5c4fe12440 | 138 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 61:5e5c4fe12440 | 139 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 61:5e5c4fe12440 | 140 | Matrix z(3,1); |
NaotoMorita | 61:5e5c4fe12440 | 141 | z << zacc(1,1) << zacc(2,1) << zacc(3,1); |
NaotoMorita | 61:5e5c4fe12440 | 142 | errState = K * z; |
NaotoMorita | 61:5e5c4fe12440 | 143 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 61:5e5c4fe12440 | 144 | |
NaotoMorita | 61:5e5c4fe12440 | 145 | fuseErr2Nominal(); |
NaotoMorita | 61:5e5c4fe12440 | 146 | } |
NaotoMorita | 61:5e5c4fe12440 | 147 | void solaESKF::updateMag(Matrix mag,Matrix R) |
NaotoMorita | 61:5e5c4fe12440 | 148 | { |
NaotoMorita | 62:5519d34eb6e8 | 149 | Matrix magm = mag-magBias; |
NaotoMorita | 61:5e5c4fe12440 | 150 | Matrix dcm(3,3); |
NaotoMorita | 61:5e5c4fe12440 | 151 | computeDcm(dcm, qhat); |
NaotoMorita | 61:5e5c4fe12440 | 152 | Matrix tdcm = MatrixMath::Transpose(dcm); |
NaotoMorita | 61:5e5c4fe12440 | 153 | Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1)); |
NaotoMorita | 61:5e5c4fe12440 | 154 | |
NaotoMorita | 68:264a7e0e4a29 | 155 | Matrix H(2,nState); |
NaotoMorita | 63:74a9565a0141 | 156 | int nH = H.getRows(); |
NaotoMorita | 61:5e5c4fe12440 | 157 | |
NaotoMorita | 59:03fe5e16a33c | 158 | Matrix magned = dcm*magm; |
NaotoMorita | 59:03fe5e16a33c | 159 | float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1)); |
NaotoMorita | 63:74a9565a0141 | 160 | float hz = sqrt(magned(3,1)*magned(3,1)); |
NaotoMorita | 62:5519d34eb6e8 | 161 | float a = sqrt(magm(1,1)*magm(1,1)+magm(2,1)*magm(2,1)+magm(3,1)*magm(3,1)); |
NaotoMorita | 61:5e5c4fe12440 | 162 | |
NaotoMorita | 68:264a7e0e4a29 | 163 | H(1,3+6) = rotmag(1,3)-(rotmag(1,3)+rotmag(2,3))/hx; |
NaotoMorita | 68:264a7e0e4a29 | 164 | H(2,3+6) = rotmag(2,3); |
NaotoMorita | 59:03fe5e16a33c | 165 | for(int j = 1; j < 4; j++){ |
NaotoMorita | 65:c25d7810de44 | 166 | //H(3,j+6) = rotmag(3,j)-(rotmag(3,j))/hz; |
NaotoMorita | 65:c25d7810de44 | 167 | H(1,j+16) = -dcm(1,j)+(dcm(1,j)+dcm(2,j))/hx; |
NaotoMorita | 62:5519d34eb6e8 | 168 | H(2,j+16) = -dcm(2,j); |
NaotoMorita | 65:c25d7810de44 | 169 | //H(3,j+16) = -dcm(3,j)+(dcm(3,j))/hz; |
NaotoMorita | 63:74a9565a0141 | 170 | } |
NaotoMorita | 68:264a7e0e4a29 | 171 | //H(3,20) = 1.0f; |
NaotoMorita | 68:264a7e0e4a29 | 172 | //H(3,17) = magm(1,1)/a; |
NaotoMorita | 68:264a7e0e4a29 | 173 | //H(3,18) = magm(2,1)/a; |
NaotoMorita | 68:264a7e0e4a29 | 174 | //H(3,19) = magm(3,1)/a; |
NaotoMorita | 63:74a9565a0141 | 175 | |
NaotoMorita | 63:74a9565a0141 | 176 | Matrix z(nH,1); |
NaotoMorita | 68:264a7e0e4a29 | 177 | z << -(magned(1,1) - hx) << -magned(2,1); |
NaotoMorita | 63:74a9565a0141 | 178 | //twelite.printf("%f %f %f %f\r\n",-(magned(1,1) - hx),-magned(2,1),-(magned(3,1) - hz),-(magRadius-a)); |
NaotoMorita | 65:c25d7810de44 | 179 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 63:74a9565a0141 | 180 | |
NaotoMorita | 65:c25d7810de44 | 181 | /* |
NaotoMorita | 63:74a9565a0141 | 182 | Matrix r3(3,1); |
NaotoMorita | 63:74a9565a0141 | 183 | r3 << tdcm(1,3)<< tdcm(2,3) << tdcm(3,3); |
NaotoMorita | 63:74a9565a0141 | 184 | Matrix kpart = r3*MatrixMath::Transpose(r3); |
NaotoMorita | 63:74a9565a0141 | 185 | Matrix Pm(nState,nState); |
NaotoMorita | 63:74a9565a0141 | 186 | for(int i = 7; i<10; i++){ |
NaotoMorita | 63:74a9565a0141 | 187 | for(int j = 7;j<10;j++){ |
NaotoMorita | 63:74a9565a0141 | 188 | Pm(i,j) = Phat(i,j); |
NaotoMorita | 63:74a9565a0141 | 189 | } |
NaotoMorita | 59:03fe5e16a33c | 190 | } |
NaotoMorita | 63:74a9565a0141 | 191 | for(int i = 17; i<nState+1; i++){ |
NaotoMorita | 63:74a9565a0141 | 192 | for(int j = 17;j<nState+1;j++){ |
NaotoMorita | 63:74a9565a0141 | 193 | Pm(i,j) = Phat(i,j); |
NaotoMorita | 63:74a9565a0141 | 194 | } |
NaotoMorita | 63:74a9565a0141 | 195 | } |
NaotoMorita | 61:5e5c4fe12440 | 196 | |
NaotoMorita | 63:74a9565a0141 | 197 | Matrix K = (Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+R); |
NaotoMorita | 63:74a9565a0141 | 198 | Matrix Kmod(3,nH); |
NaotoMorita | 63:74a9565a0141 | 199 | for(int i = 1; i<4; i++){ |
NaotoMorita | 63:74a9565a0141 | 200 | for(int j = 1;j<nH+1;j++){ |
NaotoMorita | 63:74a9565a0141 | 201 | Kmod(i,j) = K(i+6,j); |
NaotoMorita | 63:74a9565a0141 | 202 | } |
NaotoMorita | 63:74a9565a0141 | 203 | } |
NaotoMorita | 63:74a9565a0141 | 204 | Kmod = kpart*Kmod; |
NaotoMorita | 63:74a9565a0141 | 205 | for(int i = 1; i<nState+1; i++){ |
NaotoMorita | 63:74a9565a0141 | 206 | for(int j = 1;j<nH;j++){ |
NaotoMorita | 63:74a9565a0141 | 207 | if(i>6 && i<10){ |
NaotoMorita | 63:74a9565a0141 | 208 | K(i,j) = Kmod(i-6,j); |
NaotoMorita | 63:74a9565a0141 | 209 | }else if(i<17){ |
NaotoMorita | 63:74a9565a0141 | 210 | K(i,j) = 0.0f; |
NaotoMorita | 63:74a9565a0141 | 211 | } |
NaotoMorita | 63:74a9565a0141 | 212 | } |
NaotoMorita | 63:74a9565a0141 | 213 | } |
NaotoMorita | 65:c25d7810de44 | 214 | */ |
NaotoMorita | 65:c25d7810de44 | 215 | errState = K * z; |
NaotoMorita | 65:c25d7810de44 | 216 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 63:74a9565a0141 | 217 | |
NaotoMorita | 65:c25d7810de44 | 218 | fuseErr2Nominal(); |
NaotoMorita | 65:c25d7810de44 | 219 | } |
NaotoMorita | 65:c25d7810de44 | 220 | void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R) |
NaotoMorita | 65:c25d7810de44 | 221 | { |
NaotoMorita | 65:c25d7810de44 | 222 | Matrix accm = acc - accBias; |
NaotoMorita | 66:6a093cb91728 | 223 | Matrix magm = mag; |
NaotoMorita | 65:c25d7810de44 | 224 | Matrix dcm(3,3); |
NaotoMorita | 65:c25d7810de44 | 225 | computeDcm(dcm, qhat); |
NaotoMorita | 65:c25d7810de44 | 226 | Matrix tdcm = MatrixMath::Transpose(dcm); |
NaotoMorita | 65:c25d7810de44 | 227 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 65:c25d7810de44 | 228 | Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 65:c25d7810de44 | 229 | Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1)); |
NaotoMorita | 65:c25d7810de44 | 230 | |
NaotoMorita | 65:c25d7810de44 | 231 | Matrix H(5,nState); |
NaotoMorita | 65:c25d7810de44 | 232 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 65:c25d7810de44 | 233 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 65:c25d7810de44 | 234 | H(i,j+6) = rotgrav(i,j); |
NaotoMorita | 65:c25d7810de44 | 235 | } |
NaotoMorita | 65:c25d7810de44 | 236 | H(i,16) = tdcm(i,3); |
NaotoMorita | 65:c25d7810de44 | 237 | } |
NaotoMorita | 65:c25d7810de44 | 238 | |
NaotoMorita | 65:c25d7810de44 | 239 | H(1,10) = -1.0f; |
NaotoMorita | 65:c25d7810de44 | 240 | H(2,11) = -1.0f; |
NaotoMorita | 65:c25d7810de44 | 241 | H(3,12) = -1.0f; |
NaotoMorita | 65:c25d7810de44 | 242 | |
NaotoMorita | 65:c25d7810de44 | 243 | Matrix magned = dcm*magm; |
NaotoMorita | 65:c25d7810de44 | 244 | float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1)); |
NaotoMorita | 65:c25d7810de44 | 245 | |
NaotoMorita | 66:6a093cb91728 | 246 | for(int j = 3; j < 4; j++){ |
NaotoMorita | 65:c25d7810de44 | 247 | H(4,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx; |
NaotoMorita | 66:6a093cb91728 | 248 | //H(4,j+16) = -dcm(1,j)+(dcm(1,j)+dcm(2,j))/hx; |
NaotoMorita | 65:c25d7810de44 | 249 | H(5,j+6) = rotmag(2,j); |
NaotoMorita | 66:6a093cb91728 | 250 | //H(5,j+16) = -dcm(2,j); |
NaotoMorita | 65:c25d7810de44 | 251 | } |
NaotoMorita | 65:c25d7810de44 | 252 | |
NaotoMorita | 65:c25d7810de44 | 253 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 65:c25d7810de44 | 254 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 65:c25d7810de44 | 255 | Matrix zmag = dcm*magm; |
NaotoMorita | 65:c25d7810de44 | 256 | Matrix z(5,1); |
NaotoMorita | 65:c25d7810de44 | 257 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << -(zmag(1,1) - hx) << -zmag(2,1); |
NaotoMorita | 65:c25d7810de44 | 258 | //twelite.printf("%f %f\r\n",hx,(zmag(1,1) - hx)); |
NaotoMorita | 65:c25d7810de44 | 259 | errState = K * z; |
NaotoMorita | 65:c25d7810de44 | 260 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 65:c25d7810de44 | 261 | |
NaotoMorita | 65:c25d7810de44 | 262 | fuseErr2Nominal(); |
NaotoMorita | 65:c25d7810de44 | 263 | } |
NaotoMorita | 65:c25d7810de44 | 264 | |
NaotoMorita | 65:c25d7810de44 | 265 | |
NaotoMorita | 65:c25d7810de44 | 266 | void solaESKF::updateOtherConstraints(Matrix mag,float palt,Matrix R) |
NaotoMorita | 65:c25d7810de44 | 267 | { |
NaotoMorita | 65:c25d7810de44 | 268 | Matrix magm = mag - magBias; |
NaotoMorita | 65:c25d7810de44 | 269 | float a = sqrt(magm(1,1)*magm(1,1)+magm(2,1)*magm(2,1)+magm(3,1)*magm(3,1)); |
NaotoMorita | 65:c25d7810de44 | 270 | Matrix H(2,nState); |
NaotoMorita | 65:c25d7810de44 | 271 | H(1,20) = -1.0f; |
NaotoMorita | 65:c25d7810de44 | 272 | H(1,17) = -magm(1,1)/a; |
NaotoMorita | 65:c25d7810de44 | 273 | H(1,18) = -magm(2,1)/a; |
NaotoMorita | 65:c25d7810de44 | 274 | H(1,19) = -magm(3,1)/a; |
NaotoMorita | 65:c25d7810de44 | 275 | H(2,3) = 1.0f; |
NaotoMorita | 65:c25d7810de44 | 276 | |
NaotoMorita | 65:c25d7810de44 | 277 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 65:c25d7810de44 | 278 | |
NaotoMorita | 65:c25d7810de44 | 279 | Matrix z(2,1); |
NaotoMorita | 65:c25d7810de44 | 280 | z << -(a-magRadius) << palt-pihat(3,1); |
NaotoMorita | 65:c25d7810de44 | 281 | //twelite.printf("%f %f\r\n",hx,(zmag(1,1) - hx)); |
NaotoMorita | 46:15988dc41923 | 282 | errState = K * z; |
NaotoMorita | 50:dadad0567349 | 283 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 58:93ba28cf5cb3 | 284 | |
NaotoMorita | 58:93ba28cf5cb3 | 285 | fuseErr2Nominal(); |
NaotoMorita | 58:93ba28cf5cb3 | 286 | } |
NaotoMorita | 58:93ba28cf5cb3 | 287 | |
NaotoMorita | 58:93ba28cf5cb3 | 288 | |
NaotoMorita | 59:03fe5e16a33c | 289 | void solaESKF::updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R) |
NaotoMorita | 58:93ba28cf5cb3 | 290 | { |
NaotoMorita | 59:03fe5e16a33c | 291 | Matrix H(5,nState); |
NaotoMorita | 46:15988dc41923 | 292 | H(1,1) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 293 | H(2,2) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 294 | H(3,3) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 295 | H(4,4) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 296 | H(5,5) = 1.0f; |
NaotoMorita | 53:8b551358a7e3 | 297 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 59:03fe5e16a33c | 298 | Matrix z(5,1); |
NaotoMorita | 59:03fe5e16a33c | 299 | 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); |
NaotoMorita | 58:93ba28cf5cb3 | 300 | errState = K * z; |
NaotoMorita | 58:93ba28cf5cb3 | 301 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 58:93ba28cf5cb3 | 302 | fuseErr2Nominal(); |
NaotoMorita | 58:93ba28cf5cb3 | 303 | } |
NaotoMorita | 58:93ba28cf5cb3 | 304 | |
NaotoMorita | 46:15988dc41923 | 305 | |
NaotoMorita | 44:7d82e63b6a86 | 306 | Matrix solaESKF::computeAngles() |
NaotoMorita | 25:07ac5c6cd61c | 307 | { |
NaotoMorita | 25:07ac5c6cd61c | 308 | |
NaotoMorita | 44:7d82e63b6a86 | 309 | Matrix euler(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 310 | 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)); |
NaotoMorita | 44:7d82e63b6a86 | 311 | euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1))); |
NaotoMorita | 44:7d82e63b6a86 | 312 | 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)); |
NaotoMorita | 44:7d82e63b6a86 | 313 | return euler; |
NaotoMorita | 19:3fae66745363 | 314 | } |
NaotoMorita | 19:3fae66745363 | 315 | |
NaotoMorita | 21:d6079def0473 | 316 | |
NaotoMorita | 44:7d82e63b6a86 | 317 | void solaESKF::fuseErr2Nominal() |
NaotoMorita | 19:3fae66745363 | 318 | { |
NaotoMorita | 44:7d82e63b6a86 | 319 | //position |
NaotoMorita | 44:7d82e63b6a86 | 320 | pihat(1,1) += errState(1,1); |
NaotoMorita | 44:7d82e63b6a86 | 321 | pihat(2,1) += errState(2,1); |
NaotoMorita | 44:7d82e63b6a86 | 322 | pihat(3,1) += errState(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 323 | |
NaotoMorita | 44:7d82e63b6a86 | 324 | //velocity |
NaotoMorita | 44:7d82e63b6a86 | 325 | vihat(1,1) += errState(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 326 | vihat(2,1) += errState(5,1); |
NaotoMorita | 44:7d82e63b6a86 | 327 | vihat(3,1) += errState(6,1); |
NaotoMorita | 44:7d82e63b6a86 | 328 | |
NaotoMorita | 44:7d82e63b6a86 | 329 | //angle error |
NaotoMorita | 19:3fae66745363 | 330 | Matrix qerr(4,1); |
NaotoMorita | 46:15988dc41923 | 331 | qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1); |
NaotoMorita | 19:3fae66745363 | 332 | qhat = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 333 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 334 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 335 | |
NaotoMorita | 44:7d82e63b6a86 | 336 | //acc bias |
NaotoMorita | 44:7d82e63b6a86 | 337 | accBias(1,1) += errState(10,1); |
NaotoMorita | 44:7d82e63b6a86 | 338 | accBias(2,1) += errState(11,1); |
NaotoMorita | 44:7d82e63b6a86 | 339 | accBias(3,1) += errState(12,1); |
NaotoMorita | 44:7d82e63b6a86 | 340 | |
NaotoMorita | 44:7d82e63b6a86 | 341 | //gyro bias |
NaotoMorita | 44:7d82e63b6a86 | 342 | gyroBias(1,1) += errState(13,1); |
NaotoMorita | 44:7d82e63b6a86 | 343 | gyroBias(2,1) += errState(14,1); |
NaotoMorita | 44:7d82e63b6a86 | 344 | gyroBias(3,1) += errState(15,1); |
NaotoMorita | 44:7d82e63b6a86 | 345 | |
NaotoMorita | 44:7d82e63b6a86 | 346 | //gravity bias |
NaotoMorita | 59:03fe5e16a33c | 347 | gravity(1,1) = 0.0f; |
NaotoMorita | 59:03fe5e16a33c | 348 | gravity(2,1) = 0.0f; |
NaotoMorita | 59:03fe5e16a33c | 349 | gravity(3,1) += errState(16,1); |
NaotoMorita | 47:2467de40951f | 350 | |
NaotoMorita | 62:5519d34eb6e8 | 351 | //Magnetic bias |
NaotoMorita | 62:5519d34eb6e8 | 352 | magBias(1,1) += errState(17,1); |
NaotoMorita | 62:5519d34eb6e8 | 353 | magBias(2,1) += errState(18,1); |
NaotoMorita | 62:5519d34eb6e8 | 354 | magBias(3,1) += errState(19,1); |
NaotoMorita | 62:5519d34eb6e8 | 355 | magRadius += errState(20,1); |
NaotoMorita | 62:5519d34eb6e8 | 356 | |
NaotoMorita | 56:c10f1168bd4a | 357 | |
NaotoMorita | 58:93ba28cf5cb3 | 358 | for (int i = 1; i < nState+1; i++){ |
NaotoMorita | 47:2467de40951f | 359 | errState(i,1) = 0.0f; |
NaotoMorita | 47:2467de40951f | 360 | } |
NaotoMorita | 44:7d82e63b6a86 | 361 | |
NaotoMorita | 19:3fae66745363 | 362 | } |
NaotoMorita | 19:3fae66745363 | 363 | |
NaotoMorita | 44:7d82e63b6a86 | 364 | Matrix solaESKF::quatmultiply(Matrix p, Matrix q) |
NaotoMorita | 19:3fae66745363 | 365 | { |
NaotoMorita | 44:7d82e63b6a86 | 366 | |
NaotoMorita | 19:3fae66745363 | 367 | Matrix qout(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 368 | 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); |
NaotoMorita | 44:7d82e63b6a86 | 369 | 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); |
NaotoMorita | 44:7d82e63b6a86 | 370 | 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); |
NaotoMorita | 44:7d82e63b6a86 | 371 | 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); |
NaotoMorita | 19:3fae66745363 | 372 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); |
NaotoMorita | 19:3fae66745363 | 373 | qout *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 374 | return qout; |
NaotoMorita | 19:3fae66745363 | 375 | } |
NaotoMorita | 19:3fae66745363 | 376 | |
NaotoMorita | 44:7d82e63b6a86 | 377 | void solaESKF::computeDcm(Matrix& dcm, Matrix quat) |
NaotoMorita | 19:3fae66745363 | 378 | { |
NaotoMorita | 19:3fae66745363 | 379 | |
NaotoMorita | 44:7d82e63b6a86 | 380 | 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); |
NaotoMorita | 44:7d82e63b6a86 | 381 | dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 382 | dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 383 | dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 384 | 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); |
NaotoMorita | 44:7d82e63b6a86 | 385 | dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 386 | dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 387 | dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 388 | 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); |
NaotoMorita | 19:3fae66745363 | 389 | |
NaotoMorita | 19:3fae66745363 | 390 | } |
NaotoMorita | 19:3fae66745363 | 391 | |
NaotoMorita | 44:7d82e63b6a86 | 392 | void solaESKF::setQhat(float ex,float ey,float ez) |
NaotoMorita | 44:7d82e63b6a86 | 393 | { |
NaotoMorita | 44:7d82e63b6a86 | 394 | float cos_z_2 = cosf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 395 | float cos_y_2 = cosf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 396 | float cos_x_2 = cosf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 397 | |
NaotoMorita | 44:7d82e63b6a86 | 398 | float sin_z_2 = sinf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 399 | float sin_y_2 = sinf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 400 | float sin_x_2 = sinf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 401 | |
NaotoMorita | 19:3fae66745363 | 402 | // and now compute quaternion |
NaotoMorita | 19:3fae66745363 | 403 | qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 404 | qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
NaotoMorita | 19:3fae66745363 | 405 | qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 406 | qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 407 | } |
NaotoMorita | 19:3fae66745363 | 408 | |
NaotoMorita | 47:2467de40951f | 409 | |
NaotoMorita | 47:2467de40951f | 410 | |
NaotoMorita | 44:7d82e63b6a86 | 411 | void solaESKF::setGravity(float gx,float gy,float gz) |
NaotoMorita | 23:1509648c2318 | 412 | { |
NaotoMorita | 44:7d82e63b6a86 | 413 | gravity(1,1) = gx; |
NaotoMorita | 44:7d82e63b6a86 | 414 | gravity(2,1) = gy; |
NaotoMorita | 44:7d82e63b6a86 | 415 | gravity(3,1) = gz; |
NaotoMorita | 23:1509648c2318 | 416 | } |
NaotoMorita | 62:5519d34eb6e8 | 417 | |
NaotoMorita | 47:2467de40951f | 418 | Matrix solaESKF::getPihat() |
NaotoMorita | 47:2467de40951f | 419 | { |
NaotoMorita | 47:2467de40951f | 420 | return pihat; |
NaotoMorita | 47:2467de40951f | 421 | } |
NaotoMorita | 47:2467de40951f | 422 | Matrix solaESKF::getVihat() |
NaotoMorita | 47:2467de40951f | 423 | { |
NaotoMorita | 47:2467de40951f | 424 | return vihat; |
NaotoMorita | 47:2467de40951f | 425 | } |
NaotoMorita | 47:2467de40951f | 426 | Matrix solaESKF::getQhat() |
NaotoMorita | 47:2467de40951f | 427 | { |
NaotoMorita | 47:2467de40951f | 428 | return qhat; |
NaotoMorita | 47:2467de40951f | 429 | } |
NaotoMorita | 47:2467de40951f | 430 | Matrix solaESKF::getAccBias() |
NaotoMorita | 47:2467de40951f | 431 | { |
NaotoMorita | 47:2467de40951f | 432 | return accBias; |
NaotoMorita | 47:2467de40951f | 433 | } |
NaotoMorita | 47:2467de40951f | 434 | Matrix solaESKF::getGyroBias() |
NaotoMorita | 47:2467de40951f | 435 | { |
NaotoMorita | 47:2467de40951f | 436 | return gyroBias; |
NaotoMorita | 47:2467de40951f | 437 | } |
NaotoMorita | 47:2467de40951f | 438 | Matrix solaESKF::getGravity() |
NaotoMorita | 47:2467de40951f | 439 | { |
NaotoMorita | 47:2467de40951f | 440 | return gravity; |
NaotoMorita | 47:2467de40951f | 441 | } |
NaotoMorita | 62:5519d34eb6e8 | 442 | Matrix solaESKF::getMagBias() |
NaotoMorita | 62:5519d34eb6e8 | 443 | { |
NaotoMorita | 62:5519d34eb6e8 | 444 | return magBias; |
NaotoMorita | 62:5519d34eb6e8 | 445 | } |
NaotoMorita | 62:5519d34eb6e8 | 446 | float solaESKF::getMagRadius() |
NaotoMorita | 62:5519d34eb6e8 | 447 | { |
NaotoMorita | 62:5519d34eb6e8 | 448 | return magRadius; |
NaotoMorita | 62:5519d34eb6e8 | 449 | } |
NaotoMorita | 47:2467de40951f | 450 | Matrix solaESKF::getErrState() |
NaotoMorita | 47:2467de40951f | 451 | { |
NaotoMorita | 47:2467de40951f | 452 | return errState; |
NaotoMorita | 47:2467de40951f | 453 | } |
NaotoMorita | 23:1509648c2318 | 454 | |
NaotoMorita | 47:2467de40951f | 455 | void solaESKF::setPhatPosition(float val) |
NaotoMorita | 47:2467de40951f | 456 | { |
NaotoMorita | 47:2467de40951f | 457 | setBlockDiag(Phat,val,1,3); |
NaotoMorita | 47:2467de40951f | 458 | } |
NaotoMorita | 47:2467de40951f | 459 | void solaESKF::setPhatVelocity(float val) |
NaotoMorita | 47:2467de40951f | 460 | { |
NaotoMorita | 47:2467de40951f | 461 | setBlockDiag(Phat,val,4,6); |
NaotoMorita | 47:2467de40951f | 462 | } |
NaotoMorita | 47:2467de40951f | 463 | void solaESKF::setPhatAngleError(float val) |
NaotoMorita | 47:2467de40951f | 464 | { |
NaotoMorita | 47:2467de40951f | 465 | setBlockDiag(Phat,val,7,9); |
NaotoMorita | 47:2467de40951f | 466 | } |
NaotoMorita | 47:2467de40951f | 467 | void solaESKF::setPhatAccBias(float val) |
NaotoMorita | 47:2467de40951f | 468 | { |
NaotoMorita | 47:2467de40951f | 469 | setBlockDiag(Phat,val,10,12); |
NaotoMorita | 47:2467de40951f | 470 | } |
NaotoMorita | 47:2467de40951f | 471 | void solaESKF::setPhatGyroBias(float val) |
NaotoMorita | 47:2467de40951f | 472 | { |
NaotoMorita | 47:2467de40951f | 473 | setBlockDiag(Phat,val,13,15); |
NaotoMorita | 47:2467de40951f | 474 | } |
NaotoMorita | 47:2467de40951f | 475 | void solaESKF::setPhatGravity(float val) |
NaotoMorita | 47:2467de40951f | 476 | { |
NaotoMorita | 59:03fe5e16a33c | 477 | setBlockDiag(Phat,val,16,16); |
NaotoMorita | 47:2467de40951f | 478 | } |
NaotoMorita | 62:5519d34eb6e8 | 479 | void solaESKF::setPhatMagBias(float val) |
NaotoMorita | 62:5519d34eb6e8 | 480 | { |
NaotoMorita | 62:5519d34eb6e8 | 481 | setBlockDiag(Phat,val,17,19); |
NaotoMorita | 62:5519d34eb6e8 | 482 | } |
NaotoMorita | 62:5519d34eb6e8 | 483 | void solaESKF::setPhatMagRadius(float val) |
NaotoMorita | 62:5519d34eb6e8 | 484 | { |
NaotoMorita | 62:5519d34eb6e8 | 485 | setBlockDiag(Phat,val,20,20); |
NaotoMorita | 62:5519d34eb6e8 | 486 | } |
NaotoMorita | 47:2467de40951f | 487 | |
NaotoMorita | 47:2467de40951f | 488 | |
NaotoMorita | 47:2467de40951f | 489 | void solaESKF::setQVelocity(float val) |
NaotoMorita | 47:2467de40951f | 490 | { |
NaotoMorita | 47:2467de40951f | 491 | setBlockDiag(Q,val,4,6); |
NaotoMorita | 47:2467de40951f | 492 | } |
NaotoMorita | 47:2467de40951f | 493 | void solaESKF::setQAngleError(float val) |
NaotoMorita | 47:2467de40951f | 494 | { |
NaotoMorita | 47:2467de40951f | 495 | setBlockDiag(Q,val,7,9); |
NaotoMorita | 47:2467de40951f | 496 | } |
NaotoMorita | 47:2467de40951f | 497 | void solaESKF::setQAccBias(float val) |
NaotoMorita | 47:2467de40951f | 498 | { |
NaotoMorita | 47:2467de40951f | 499 | setBlockDiag(Q,val,10,12); |
NaotoMorita | 47:2467de40951f | 500 | } |
NaotoMorita | 47:2467de40951f | 501 | void solaESKF::setQGyroBias(float val) |
NaotoMorita | 47:2467de40951f | 502 | { |
NaotoMorita | 47:2467de40951f | 503 | setBlockDiag(Q,val,13,15); |
NaotoMorita | 47:2467de40951f | 504 | } |
NaotoMorita | 62:5519d34eb6e8 | 505 | void solaESKF::setQMagBias(float val) |
NaotoMorita | 62:5519d34eb6e8 | 506 | { |
NaotoMorita | 62:5519d34eb6e8 | 507 | setBlockDiag(Q,val,17,19); |
NaotoMorita | 62:5519d34eb6e8 | 508 | } |
NaotoMorita | 62:5519d34eb6e8 | 509 | void solaESKF::setQMagRadius(float val) |
NaotoMorita | 62:5519d34eb6e8 | 510 | { |
NaotoMorita | 62:5519d34eb6e8 | 511 | setBlockDiag(Q,val,20,20); |
NaotoMorita | 62:5519d34eb6e8 | 512 | } |
NaotoMorita | 19:3fae66745363 | 513 | |
NaotoMorita | 19:3fae66745363 | 514 | |
NaotoMorita | 44:7d82e63b6a86 | 515 | void solaESKF::setDiag(Matrix& mat, float val){ |
NaotoMorita | 44:7d82e63b6a86 | 516 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 517 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 518 | } |
NaotoMorita | 22:7d84b8bc20b4 | 519 | } |
NaotoMorita | 22:7d84b8bc20b4 | 520 | |
NaotoMorita | 45:df4618814803 | 521 | void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){ |
NaotoMorita | 44:7d82e63b6a86 | 522 | for (int i = startIndex; i < endIndex+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 523 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 524 | } |
NaotoMorita | 22:7d84b8bc20b4 | 525 | } |
osaka | 51:a5af3b280d23 | 526 | |
NaotoMorita | 58:93ba28cf5cb3 | 527 | void solaESKF::setPihat(float pi_x, float pi_y) |
osaka | 51:a5af3b280d23 | 528 | { |
NaotoMorita | 56:c10f1168bd4a | 529 | pihat(1,1) = pi_x; |
NaotoMorita | 56:c10f1168bd4a | 530 | pihat(2,1) = pi_y; |
NaotoMorita | 58:93ba28cf5cb3 | 531 | //pihat(3,1) = pi_z; |
NaotoMorita | 56:c10f1168bd4a | 532 | } |
NaotoMorita | 56:c10f1168bd4a | 533 | /* |
NaotoMorita | 56:c10f1168bd4a | 534 | void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 535 | { |
NaotoMorita | 56:c10f1168bd4a | 536 | Matrix accm = acc - accBias; |
NaotoMorita | 56:c10f1168bd4a | 537 | Matrix tdcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 538 | computeDcm(tdcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 539 | tdcm = MatrixMath::Transpose(tdcm); |
NaotoMorita | 56:c10f1168bd4a | 540 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 541 | Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 542 | |
NaotoMorita | 56:c10f1168bd4a | 543 | Matrix H(4,nState); |
NaotoMorita | 56:c10f1168bd4a | 544 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 56:c10f1168bd4a | 545 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 546 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 547 | H(i,j+15) = tdcm(i,j); |
NaotoMorita | 56:c10f1168bd4a | 548 | } |
NaotoMorita | 56:c10f1168bd4a | 549 | } |
NaotoMorita | 56:c10f1168bd4a | 550 | H(1,10) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 551 | H(2,11) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 552 | H(3,12) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 553 | H(4,3) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 554 | |
NaotoMorita | 56:c10f1168bd4a | 555 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 556 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 557 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 558 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 559 | Matrix z(4,1); |
NaotoMorita | 56:c10f1168bd4a | 560 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1); |
NaotoMorita | 56:c10f1168bd4a | 561 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 562 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 563 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 564 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 565 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 566 | } |
NaotoMorita | 56:c10f1168bd4a | 567 | |
NaotoMorita | 56:c10f1168bd4a | 568 | void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 569 | { |
NaotoMorita | 56:c10f1168bd4a | 570 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 56:c10f1168bd4a | 571 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 572 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 573 | Matrix a2v = dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 574 | |
NaotoMorita | 56:c10f1168bd4a | 575 | Matrix H(2,nState); |
NaotoMorita | 56:c10f1168bd4a | 576 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 56:c10f1168bd4a | 577 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 578 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 579 | H(i,j+12) = -dcm(i,j); |
NaotoMorita | 56:c10f1168bd4a | 580 | } |
NaotoMorita | 56:c10f1168bd4a | 581 | } |
NaotoMorita | 56:c10f1168bd4a | 582 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 583 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 584 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 585 | |
NaotoMorita | 56:c10f1168bd4a | 586 | Matrix z3 = -dcm*gyrom; |
NaotoMorita | 56:c10f1168bd4a | 587 | Matrix z(2,1); |
NaotoMorita | 56:c10f1168bd4a | 588 | z << z3(1,1) << z3(2,1); |
NaotoMorita | 56:c10f1168bd4a | 589 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 590 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 591 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 592 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 593 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 594 | } |
NaotoMorita | 56:c10f1168bd4a | 595 | void solaESKF::updateMag(Matrix mag, Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 596 | { |
NaotoMorita | 56:c10f1168bd4a | 597 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 598 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 599 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 600 | |
NaotoMorita | 56:c10f1168bd4a | 601 | Matrix H(2,nState); |
NaotoMorita | 56:c10f1168bd4a | 602 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 56:c10f1168bd4a | 603 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 604 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 605 | } |
NaotoMorita | 56:c10f1168bd4a | 606 | } |
NaotoMorita | 56:c10f1168bd4a | 607 | H(1,19) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 608 | //H(3,20) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 609 | |
NaotoMorita | 56:c10f1168bd4a | 610 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 611 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 612 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 613 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 56:c10f1168bd4a | 614 | Matrix z(2,1); |
NaotoMorita | 56:c10f1168bd4a | 615 | z << zmag(1,1) << zmag(2,1); |
NaotoMorita | 56:c10f1168bd4a | 616 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 617 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 618 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 619 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 620 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 621 | } |
NaotoMorita | 59:03fe5e16a33c | 622 | void solaESKF::updateMag(Matrix mag,float palt, Matrix R) |
NaotoMorita | 59:03fe5e16a33c | 623 | { |
NaotoMorita | 59:03fe5e16a33c | 624 | Matrix dcm(3,3); |
NaotoMorita | 59:03fe5e16a33c | 625 | computeDcm(dcm, qhat); |
NaotoMorita | 59:03fe5e16a33c | 626 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 59:03fe5e16a33c | 627 | |
NaotoMorita | 59:03fe5e16a33c | 628 | Matrix H(3,nState); |
NaotoMorita | 59:03fe5e16a33c | 629 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 59:03fe5e16a33c | 630 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 59:03fe5e16a33c | 631 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 59:03fe5e16a33c | 632 | } |
NaotoMorita | 59:03fe5e16a33c | 633 | } |
NaotoMorita | 59:03fe5e16a33c | 634 | H(1,19) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 635 | H(3,3) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 636 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 59:03fe5e16a33c | 637 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 59:03fe5e16a33c | 638 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 59:03fe5e16a33c | 639 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 59:03fe5e16a33c | 640 | Matrix z(3,1); |
NaotoMorita | 59:03fe5e16a33c | 641 | z << zmag(1,1) << zmag(2,1) << palt - pihat(3,1); |
NaotoMorita | 59:03fe5e16a33c | 642 | errState = K * z; |
NaotoMorita | 59:03fe5e16a33c | 643 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 59:03fe5e16a33c | 644 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 645 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 646 | |
NaotoMorita | 59:03fe5e16a33c | 647 | fuseErr2Nominal(); |
NaotoMorita | 59:03fe5e16a33c | 648 | } |
NaotoMorita | 59:03fe5e16a33c | 649 | void solaESKF::updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R) |
NaotoMorita | 59:03fe5e16a33c | 650 | { |
NaotoMorita | 59:03fe5e16a33c | 651 | |
NaotoMorita | 59:03fe5e16a33c | 652 | Matrix dcm(3,3); |
NaotoMorita | 59:03fe5e16a33c | 653 | computeDcm(dcm, qhat); |
NaotoMorita | 59:03fe5e16a33c | 654 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 59:03fe5e16a33c | 655 | |
NaotoMorita | 59:03fe5e16a33c | 656 | |
NaotoMorita | 59:03fe5e16a33c | 657 | Matrix H(3,nState); |
NaotoMorita | 59:03fe5e16a33c | 658 | H(1,4) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 659 | H(2,5) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 660 | |
NaotoMorita | 59:03fe5e16a33c | 661 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 59:03fe5e16a33c | 662 | H(3,j+6) = a2v(2,j); |
NaotoMorita | 59:03fe5e16a33c | 663 | } |
NaotoMorita | 59:03fe5e16a33c | 664 | //H(3,19) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 665 | |
NaotoMorita | 59:03fe5e16a33c | 666 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 59:03fe5e16a33c | 667 | |
NaotoMorita | 59:03fe5e16a33c | 668 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 59:03fe5e16a33c | 669 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 59:03fe5e16a33c | 670 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 59:03fe5e16a33c | 671 | Matrix z(3,1); |
NaotoMorita | 59:03fe5e16a33c | 672 | z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << zmag(2,1); |
NaotoMorita | 59:03fe5e16a33c | 673 | errState = K * z; |
NaotoMorita | 59:03fe5e16a33c | 674 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 59:03fe5e16a33c | 675 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 676 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 677 | fuseErr2Nominal(); |
NaotoMorita | 59:03fe5e16a33c | 678 | } |
NaotoMorita | 56:c10f1168bd4a | 679 | |
NaotoMorita | 59:03fe5e16a33c | 680 | void solaESKF::updateGPSPosition(Matrix posgps,float palt,Matrix R) |
NaotoMorita | 59:03fe5e16a33c | 681 | { |
NaotoMorita | 59:03fe5e16a33c | 682 | Matrix H(3,nState); |
NaotoMorita | 59:03fe5e16a33c | 683 | H(1,1) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 684 | H(2,2) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 685 | H(3,3) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 686 | |
NaotoMorita | 59:03fe5e16a33c | 687 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 59:03fe5e16a33c | 688 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 59:03fe5e16a33c | 689 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 59:03fe5e16a33c | 690 | Matrix z(3,1); |
NaotoMorita | 59:03fe5e16a33c | 691 | z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1); |
NaotoMorita | 59:03fe5e16a33c | 692 | errState = K * z; |
NaotoMorita | 59:03fe5e16a33c | 693 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 59:03fe5e16a33c | 694 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 695 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 696 | fuseErr2Nominal(); |
NaotoMorita | 59:03fe5e16a33c | 697 | } |
NaotoMorita | 61:5e5c4fe12440 | 698 | |
NaotoMorita | 61:5e5c4fe12440 | 699 | void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R) |
NaotoMorita | 61:5e5c4fe12440 | 700 | { |
NaotoMorita | 61:5e5c4fe12440 | 701 | Matrix accm = acc - accBias; |
NaotoMorita | 61:5e5c4fe12440 | 702 | Matrix magm = mag - magBias; |
NaotoMorita | 61:5e5c4fe12440 | 703 | Matrix dcm(3,3); |
NaotoMorita | 61:5e5c4fe12440 | 704 | computeDcm(dcm, qhat); |
NaotoMorita | 61:5e5c4fe12440 | 705 | Matrix tdcm = MatrixMath::Transpose(dcm); |
NaotoMorita | 61:5e5c4fe12440 | 706 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 61:5e5c4fe12440 | 707 | Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 61:5e5c4fe12440 | 708 | Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1)); |
NaotoMorita | 61:5e5c4fe12440 | 709 | |
NaotoMorita | 61:5e5c4fe12440 | 710 | Matrix H(5,nState); |
NaotoMorita | 61:5e5c4fe12440 | 711 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 61:5e5c4fe12440 | 712 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 61:5e5c4fe12440 | 713 | H(i,j+6) = rotgrav(i,j); |
NaotoMorita | 61:5e5c4fe12440 | 714 | } |
NaotoMorita | 61:5e5c4fe12440 | 715 | H(i,16) = tdcm(i,3); |
NaotoMorita | 61:5e5c4fe12440 | 716 | } |
NaotoMorita | 61:5e5c4fe12440 | 717 | |
NaotoMorita | 61:5e5c4fe12440 | 718 | H(1,10) = -1.0f; |
NaotoMorita | 61:5e5c4fe12440 | 719 | H(2,11) = -1.0f; |
NaotoMorita | 61:5e5c4fe12440 | 720 | H(3,12) = -1.0f; |
NaotoMorita | 61:5e5c4fe12440 | 721 | |
NaotoMorita | 61:5e5c4fe12440 | 722 | Matrix magned = dcm*magm; |
NaotoMorita | 61:5e5c4fe12440 | 723 | float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1)); |
NaotoMorita | 61:5e5c4fe12440 | 724 | |
NaotoMorita | 61:5e5c4fe12440 | 725 | for(int j = 1; j < 4; j++){ |
NaotoMorita | 61:5e5c4fe12440 | 726 | H(4,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx; |
NaotoMorita | 61:5e5c4fe12440 | 727 | H(4,j+16) = -dcm(1,j)+(dcm(1,j)+dcm(2,j))/hx; |
NaotoMorita | 61:5e5c4fe12440 | 728 | H(5,j+6) = rotmag(2,j); |
NaotoMorita | 61:5e5c4fe12440 | 729 | H(5,j+16) = -dcm(2,j); |
NaotoMorita | 61:5e5c4fe12440 | 730 | } |
NaotoMorita | 61:5e5c4fe12440 | 731 | |
NaotoMorita | 61:5e5c4fe12440 | 732 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 61:5e5c4fe12440 | 733 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 61:5e5c4fe12440 | 734 | Matrix zmag = dcm*magm; |
NaotoMorita | 61:5e5c4fe12440 | 735 | Matrix z(5,1); |
NaotoMorita | 61:5e5c4fe12440 | 736 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << -(zmag(1,1) - hx) << -zmag(2,1); |
NaotoMorita | 61:5e5c4fe12440 | 737 | twelite.printf("%f %f\r\n",hx,(zmag(1,1) - hx)); |
NaotoMorita | 61:5e5c4fe12440 | 738 | errState = K * z; |
NaotoMorita | 61:5e5c4fe12440 | 739 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 61:5e5c4fe12440 | 740 | |
NaotoMorita | 61:5e5c4fe12440 | 741 | fuseErr2Nominal(); |
NaotoMorita | 61:5e5c4fe12440 | 742 | } |
NaotoMorita | 56:c10f1168bd4a | 743 | */ |