HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

ScErrStateEKF.cpp@19:3fae66745363, 2021-07-23 (annotated)

Committer:
NaotoMorita
Date:
Fri Jul 23 05:55:28 2021 +0000
Revision:
19:3fae66745363
Child:
20:37d3c3ee36e9
SC

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 19:3fae66745363 11 :qhat(4,1), errState(12,1), Phat(12,12), Q(12,12), Ra(5,5), Rm(3,3), Qab(5,5),accBias(0.0f,0.0f,0.0f),gyroBias(0.0f,0.0f,0.0f)
NaotoMorita 19:3fae66745363 12 {
NaotoMorita 19:3fae66745363 13 qhat << 1.0f << 0.0f << 0.0f << 0.0f;
NaotoMorita 19:3fae66745363 14 errState << 0.0f << 0.0f << 0.0f << 0.0f << 0.0f << 0.0f << 0.0f << 0.0f << 0.0f << 0.0f << 0.0f << 0.0f;
NaotoMorita 19:3fae66745363 15
NaotoMorita 19:3fae66745363 16 Phat(1,1) = 0.1f;
NaotoMorita 19:3fae66745363 17 Phat(2,2) = 0.1f;
NaotoMorita 19:3fae66745363 18 Phat(3,3) = 0.1f;
NaotoMorita 19:3fae66745363 19 Phat(4,4) = 0.1f;
NaotoMorita 19:3fae66745363 20 Phat(5,5) = 0.1f;
NaotoMorita 19:3fae66745363 21 Phat(6,6) = 0.1f;
NaotoMorita 19:3fae66745363 22 Phat(7,7) = 0.1f;
NaotoMorita 19:3fae66745363 23 Phat(8,8) = 0.1f;
NaotoMorita 19:3fae66745363 24 Phat(9,9) = 0.1f;
NaotoMorita 19:3fae66745363 25 Phat(10,10) = 0.1f;
NaotoMorita 19:3fae66745363 26 Phat(11,11) = 0.1f;
NaotoMorita 19:3fae66745363 27 Phat(12,12) = 0.1f;
NaotoMorita 19:3fae66745363 28
NaotoMorita 19:3fae66745363 29 Q(1,1) = 0.000005f*0.25f;
NaotoMorita 19:3fae66745363 30 Q(2,2) = 0.000005f*0.25f;
NaotoMorita 19:3fae66745363 31 Q(3,3) = 0.000005f*0.25f;
NaotoMorita 19:3fae66745363 32 Q(4,4) = 0.0005f;
NaotoMorita 19:3fae66745363 33 Q(5,5) = 0.0005f;
NaotoMorita 19:3fae66745363 34 Q(6,6) = 0.0005f;
NaotoMorita 19:3fae66745363 35 Q(7,7) = 100.0f;
NaotoMorita 19:3fae66745363 36 Q(8,8) = 100.0f;
NaotoMorita 19:3fae66745363 37 Q(9,9) = 100.0f;
NaotoMorita 19:3fae66745363 38 Q(10,10) = 100.0f;
NaotoMorita 19:3fae66745363 39 Q(11,11) = 100.0f;
NaotoMorita 19:3fae66745363 40 Q(12,12) = 100.0f;
NaotoMorita 19:3fae66745363 41
NaotoMorita 19:3fae66745363 42 Ra(1,1) = 0.000020f;
NaotoMorita 19:3fae66745363 43 Ra(2,2) = 0.000020f;
NaotoMorita 19:3fae66745363 44 Ra(3,3) = 0.000020f;
NaotoMorita 19:3fae66745363 45 Ra(4,4) = 10.0f;
NaotoMorita 19:3fae66745363 46 Ra(5,5) = 10.0f;
NaotoMorita 19:3fae66745363 47
NaotoMorita 19:3fae66745363 48 Rm(1,1) = 5.0f;
NaotoMorita 19:3fae66745363 49 Rm(2,2) = 5.0f;
NaotoMorita 19:3fae66745363 50 Rm(3,3) = 5.0f;
NaotoMorita 19:3fae66745363 51
NaotoMorita 19:3fae66745363 52 Qab(1,1) = 100.7f;
NaotoMorita 19:3fae66745363 53 Qab(2,2) = 100.7f;
NaotoMorita 19:3fae66745363 54 Qab(3,3) = 100.7f;
NaotoMorita 19:3fae66745363 55 Qab(4,4) = 0.0f;
NaotoMorita 19:3fae66745363 56 Qab(5,5) = 0.0f;
NaotoMorita 19:3fae66745363 57
NaotoMorita 19:3fae66745363 58 for(int i = 0; i<10;i++){
NaotoMorita 19:3fae66745363 59 histffunc[i] = 0.0f;
NaotoMorita 19:3fae66745363 60 }
NaotoMorita 19:3fae66745363 61 histffuncindex = 0 ;
NaotoMorita 19:3fae66745363 62 sigma2a = 0.000020f;
NaotoMorita 19:3fae66745363 63
NaotoMorita 19:3fae66745363 64
NaotoMorita 19:3fae66745363 65 }
NaotoMorita 19:3fae66745363 66
NaotoMorita 19:3fae66745363 67 void ScErrStateEKF::updateQhat(Vector3 gyro, float att_dt)
NaotoMorita 19:3fae66745363 68 {
NaotoMorita 19:3fae66745363 69 gyro -= gyroBias;
NaotoMorita 19:3fae66745363 70 Matrix A(4,4);
NaotoMorita 19:3fae66745363 71 A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z
NaotoMorita 19:3fae66745363 72 << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y
NaotoMorita 19:3fae66745363 73 << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x
NaotoMorita 19:3fae66745363 74 << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ;
NaotoMorita 19:3fae66745363 75
NaotoMorita 19:3fae66745363 76 Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A + (1.0f/6.0f*att_dt*att_dt*att_dt) * A * A * A;
NaotoMorita 19:3fae66745363 77 qhat = phi * qhat;
NaotoMorita 19:3fae66745363 78 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 79 qhat *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 80 }
NaotoMorita 19:3fae66745363 81
NaotoMorita 19:3fae66745363 82 void ScErrStateEKF::updateErrState(Vector3 gyro, float att_dt)
NaotoMorita 19:3fae66745363 83 {
NaotoMorita 19:3fae66745363 84 gyro -= gyroBias;
NaotoMorita 19:3fae66745363 85 Matrix A(12,12);
NaotoMorita 19:3fae66745363 86 A(1,2) = gyro.z;
NaotoMorita 19:3fae66745363 87 A(1,3) = -gyro.y;
NaotoMorita 19:3fae66745363 88 A(2,1) = -gyro.z;
NaotoMorita 19:3fae66745363 89 A(2,3) = gyro.x;
NaotoMorita 19:3fae66745363 90 A(3,1) = gyro.y;
NaotoMorita 19:3fae66745363 91 A(3,2) = -gyro.x;
NaotoMorita 19:3fae66745363 92 A(1,4) = -0.5f;
NaotoMorita 19:3fae66745363 93 A(2,5) = -0.5f;
NaotoMorita 19:3fae66745363 94 A(3,6) = -0.5f;
NaotoMorita 19:3fae66745363 95 A(10,7) = 1.0f;
NaotoMorita 19:3fae66745363 96 A(11,8) = 1.0f;
NaotoMorita 19:3fae66745363 97 A(12,9) = 1.0f;
NaotoMorita 19:3fae66745363 98
NaotoMorita 19:3fae66745363 99 Matrix phi = MatrixMath::Eye(12) + A * att_dt + (0.5f*att_dt*att_dt) * A * A + (1.0f/6.0f*att_dt*att_dt*att_dt) * A * A * A;
NaotoMorita 19:3fae66745363 100 Matrix Qd = Q * att_dt + 0.5f*A*Q * att_dt * att_dt+ 0.5f*Q*MatrixMath::Transpose(A) * att_dt * att_dt;
NaotoMorita 19:3fae66745363 101 errState = phi * errState;
NaotoMorita 19:3fae66745363 102 Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd;
NaotoMorita 19:3fae66745363 103 }
NaotoMorita 19:3fae66745363 104
NaotoMorita 19:3fae66745363 105 void ScErrStateEKF::updateAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 106 {
NaotoMorita 19:3fae66745363 107 //acc -= accBias;
NaotoMorita 19:3fae66745363 108 //acc = acc/acc.Norm();
NaotoMorita 19:3fae66745363 109 //accref = accref/accref.Norm();
NaotoMorita 19:3fae66745363 110
NaotoMorita 19:3fae66745363 111 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 112 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 113 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 19:3fae66745363 114 Matrix H(5,12);
NaotoMorita 19:3fae66745363 115 H(1,2) = -2.0f*gvec.z;
NaotoMorita 19:3fae66745363 116 H(1,3) = 2.0f*gvec.y;
NaotoMorita 19:3fae66745363 117 H(2,1) = 2.0f*gvec.z;
NaotoMorita 19:3fae66745363 118 H(2,3) = -2.0f*gvec.x;
NaotoMorita 19:3fae66745363 119 H(3,1) = -2.0f*gvec.y;
NaotoMorita 19:3fae66745363 120 H(3,2) = 2.0f*gvec.x;
NaotoMorita 19:3fae66745363 121 H(1,7) = 1.0f;
NaotoMorita 19:3fae66745363 122 H(2,8) = 1.0f;
NaotoMorita 19:3fae66745363 123 H(3,9) = 1.0f;
NaotoMorita 19:3fae66745363 124 H(4,10) = 1.0f;
NaotoMorita 19:3fae66745363 125 H(5,12) = 1.0f;
NaotoMorita 19:3fae66745363 126 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra+Qab);
NaotoMorita 19:3fae66745363 127 Matrix accmat(3,1);
NaotoMorita 19:3fae66745363 128 accmat << acc.x << acc.y << acc.z;
NaotoMorita 19:3fae66745363 129 Matrix gref(3,1);
NaotoMorita 19:3fae66745363 130 gref << 0.0f << 0.0f << accref.z;
NaotoMorita 19:3fae66745363 131 Matrix zacc = accmat-dcm*gref;
NaotoMorita 19:3fae66745363 132 Matrix z(5,1);
NaotoMorita 19:3fae66745363 133 z << zacc(1,1) << zacc(2,1) << zacc(3,1) << 0.0f << 0.0f;
NaotoMorita 19:3fae66745363 134 Matrix corrVal = K * (z-H*errState);
NaotoMorita 19:3fae66745363 135 errState = errState + corrVal;
NaotoMorita 19:3fae66745363 136 Phat = (MatrixMath::Eye(12)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(12)-K*H)+K*(Ra+Qab)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 137 }
NaotoMorita 19:3fae66745363 138 void ScErrStateEKF::updateStaticAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 139 {
NaotoMorita 19:3fae66745363 140 //acc = acc/acc.Norm();
NaotoMorita 19:3fae66745363 141 //accref = accref/accref.Norm();
NaotoMorita 19:3fae66745363 142
NaotoMorita 19:3fae66745363 143 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 144 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 145 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 19:3fae66745363 146 Matrix H(3,9);
NaotoMorita 19:3fae66745363 147 H(1,2) = -2.0f*gvec.z;
NaotoMorita 19:3fae66745363 148 H(1,3) = 2.0f*gvec.y;
NaotoMorita 19:3fae66745363 149 H(2,1) = 2.0f*gvec.z;
NaotoMorita 19:3fae66745363 150 H(2,3) = -2.0f*gvec.x;
NaotoMorita 19:3fae66745363 151 H(3,1) = -2.0f*gvec.y;
NaotoMorita 19:3fae66745363 152 H(3,2) = 2.0f*gvec.x;
NaotoMorita 19:3fae66745363 153 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra*100.0f);
NaotoMorita 19:3fae66745363 154 Matrix accmat(3,1);
NaotoMorita 19:3fae66745363 155 accmat << acc.x << acc.y << acc.z;
NaotoMorita 19:3fae66745363 156 Matrix gref(3,1);
NaotoMorita 19:3fae66745363 157 gref << 0.0f << 0.0f << accref.z;
NaotoMorita 19:3fae66745363 158 Matrix z = accmat-dcm*gref;
NaotoMorita 19:3fae66745363 159 errState = errState + K * (z-H*errState);
NaotoMorita 19:3fae66745363 160 Phat = (MatrixMath::Eye(9)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(9)-K*H)+K*(Ra*100.0f)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 161 }
NaotoMorita 19:3fae66745363 162
NaotoMorita 19:3fae66745363 163
NaotoMorita 19:3fae66745363 164
NaotoMorita 19:3fae66745363 165 void ScErrStateEKF::updateMagMeasures(Vector3 mag)
NaotoMorita 19:3fae66745363 166 {
NaotoMorita 19:3fae66745363 167 //mag = mag/mag.Norm();
NaotoMorita 19:3fae66745363 168 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 169 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 170
NaotoMorita 19:3fae66745363 171 Matrix magvec(3,1);
NaotoMorita 19:3fae66745363 172 magvec(1,1) = mag.x;
NaotoMorita 19:3fae66745363 173 magvec(2,1) = mag.y;
NaotoMorita 19:3fae66745363 174 magvec(3,1) = mag.z;
NaotoMorita 19:3fae66745363 175
NaotoMorita 19:3fae66745363 176 Matrix magnedvec = MatrixMath::Transpose(dcm)*magvec;
NaotoMorita 19:3fae66745363 177 Matrix magrefmod(3,1);
NaotoMorita 19:3fae66745363 178 magrefmod(1,1) = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1));
NaotoMorita 19:3fae66745363 179 magrefmod(2,1) = 0.0f;
NaotoMorita 19:3fae66745363 180 magrefmod(3,1) = magnedvec(3,1);
NaotoMorita 19:3fae66745363 181
NaotoMorita 19:3fae66745363 182 Matrix mvec = dcm*magrefmod ;
NaotoMorita 19:3fae66745363 183 Matrix H(3,9);
NaotoMorita 19:3fae66745363 184 H(1,2) = -2.0f*magvec(3,1);
NaotoMorita 19:3fae66745363 185 H(1,3) = 2.0f*magvec(2,1);
NaotoMorita 19:3fae66745363 186 H(2,1) = 2.0f*magvec(3,1);
NaotoMorita 19:3fae66745363 187 H(2,3) = -2.0f*magvec(1,1);
NaotoMorita 19:3fae66745363 188 H(3,1) = -2.0f*magvec(2,1);
NaotoMorita 19:3fae66745363 189 H(3,2) = 2.0f*magvec(1,1);
NaotoMorita 19:3fae66745363 190 Matrix Pm(9,9);
NaotoMorita 19:3fae66745363 191 for(int i = 1; i<4; i++){
NaotoMorita 19:3fae66745363 192 for(int j = 1;j<4;j++){
NaotoMorita 19:3fae66745363 193 Pm(i,j) = Phat(i,j);
NaotoMorita 19:3fae66745363 194 }
NaotoMorita 19:3fae66745363 195 }
NaotoMorita 19:3fae66745363 196 Matrix r3(3,1);
NaotoMorita 19:3fae66745363 197 r3 << dcm(1,3)<< dcm(2,3) << dcm(3,3);
NaotoMorita 19:3fae66745363 198 Matrix kpart = r3*MatrixMath::Transpose(r3);
NaotoMorita 19:3fae66745363 199 Matrix Kmod(9,9);
NaotoMorita 19:3fae66745363 200 for(int i = 1; i<4; i++){
NaotoMorita 19:3fae66745363 201 for(int j = 1;j<4;j++){
NaotoMorita 19:3fae66745363 202 Kmod(i,j) = kpart(i,j);
NaotoMorita 19:3fae66745363 203 }
NaotoMorita 19:3fae66745363 204 }
NaotoMorita 19:3fae66745363 205
NaotoMorita 19:3fae66745363 206 Matrix K = Kmod*(Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rm);
NaotoMorita 19:3fae66745363 207 Matrix z = magvec-mvec;
NaotoMorita 19:3fae66745363 208 errState = errState + K * (z-H*errState);
NaotoMorita 19:3fae66745363 209 Phat = (MatrixMath::Eye(9)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(9)-K*H)+K*(Rm)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 210 }
NaotoMorita 19:3fae66745363 211
NaotoMorita 19:3fae66745363 212 void ScErrStateEKF::resetBias()
NaotoMorita 19:3fae66745363 213 {
NaotoMorita 19:3fae66745363 214 gyroBias.x = gyroBias.x + errState(4,1)*1.0f;
NaotoMorita 19:3fae66745363 215 gyroBias.y = gyroBias.y + errState(5,1)*1.0f;
NaotoMorita 19:3fae66745363 216 gyroBias.z = gyroBias.z + errState(6,1)*1.0f;
NaotoMorita 19:3fae66745363 217 errState(4,1) = 0.0f;
NaotoMorita 19:3fae66745363 218 errState(5,1) = 0.0f;
NaotoMorita 19:3fae66745363 219 errState(6,1) = 0.0f;
NaotoMorita 19:3fae66745363 220 //accBias.x = accBias.x + errState(7,1);
NaotoMorita 19:3fae66745363 221 //accBias.y = accBias.y + errState(8,1);
NaotoMorita 19:3fae66745363 222 //accBias.z = accBias.z + errState(9,1);
NaotoMorita 19:3fae66745363 223 //errState(7,1) = 0.0f;
NaotoMorita 19:3fae66745363 224 //errState(8,1) = 0.0f;
NaotoMorita 19:3fae66745363 225 //errState(9,1) = 0.0f;
NaotoMorita 19:3fae66745363 226 }
NaotoMorita 19:3fae66745363 227
NaotoMorita 19:3fae66745363 228 void ScErrStateEKF::computeAngles(Vector3& rpy,Vector3 rpy_align)
NaotoMorita 19:3fae66745363 229 {
NaotoMorita 19:3fae66745363 230 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 231 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 232 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 233 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 234 Matrix qest = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 235 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qest),qest));
NaotoMorita 19:3fae66745363 236 qest *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 237 float q0 = qest( 1, 1 );
NaotoMorita 19:3fae66745363 238 float q1 = qest( 2, 1 );
NaotoMorita 19:3fae66745363 239 float q2 = qest( 3, 1 );
NaotoMorita 19:3fae66745363 240 float q3 = qest( 4, 1 );
NaotoMorita 19:3fae66745363 241 rpy.x = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-rpy_align.x;
NaotoMorita 19:3fae66745363 242 rpy.y = asinf(-2.0f * (q1*q3 - q0*q2))-rpy_align.y;
NaotoMorita 19:3fae66745363 243 rpy.z = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 19:3fae66745363 244
NaotoMorita 19:3fae66745363 245 }
NaotoMorita 19:3fae66745363 246
NaotoMorita 19:3fae66745363 247 void ScErrStateEKF::fuseErr2Qhat()
NaotoMorita 19:3fae66745363 248 {
NaotoMorita 19:3fae66745363 249 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 250 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 251 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 252 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 253 qhat = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 254 errState(1,1) = 0.0f;
NaotoMorita 19:3fae66745363 255 errState(2,1) = 0.0f;
NaotoMorita 19:3fae66745363 256 errState(3,1) = 0.0f;
NaotoMorita 19:3fae66745363 257 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 258 qhat *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 259 }
NaotoMorita 19:3fae66745363 260
NaotoMorita 19:3fae66745363 261 Matrix ScErrStateEKF::quatmultiply(Matrix q, Matrix r)
NaotoMorita 19:3fae66745363 262 {
NaotoMorita 19:3fae66745363 263 Matrix qout(4,1);
NaotoMorita 19:3fae66745363 264 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 265 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 266 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 267 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 268 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout));
NaotoMorita 19:3fae66745363 269 qout *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 270 return qout;
NaotoMorita 19:3fae66745363 271 }
NaotoMorita 19:3fae66745363 272
NaotoMorita 19:3fae66745363 273 void ScErrStateEKF::computeDcm(Matrix& dcm, Matrix quat)
NaotoMorita 19:3fae66745363 274 {
NaotoMorita 19:3fae66745363 275
NaotoMorita 19:3fae66745363 276 float q0 = quat( 1, 1 );
NaotoMorita 19:3fae66745363 277 float q1 = quat( 2, 1 );
NaotoMorita 19:3fae66745363 278 float q2 = quat( 3, 1 );
NaotoMorita 19:3fae66745363 279 float q3 = quat( 4, 1 );
NaotoMorita 19:3fae66745363 280
NaotoMorita 19:3fae66745363 281 dcm(1,1) = q0*q0 + q1*q1 - q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 282 dcm(1,2) = 2*(q1*q2 + q0*q3);
NaotoMorita 19:3fae66745363 283 dcm(1,3) = 2*(q1*q3 - q0*q2);
NaotoMorita 19:3fae66745363 284 dcm(2,1) = 2*(q1*q2 - q0*q3);
NaotoMorita 19:3fae66745363 285 dcm(2,2) = q0*q0 - q1*q1 + q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 286 dcm(2,3) = 2*(q2*q3 + q0*q1);
NaotoMorita 19:3fae66745363 287 dcm(3,1) = 2*(q1*q3 + q0*q2);
NaotoMorita 19:3fae66745363 288 dcm(3,2) = 2*(q2*q3 - q0*q1);
NaotoMorita 19:3fae66745363 289 dcm(3,3) = q0*q0 - q1*q1 - q2*q2 + q3*q3;
NaotoMorita 19:3fae66745363 290
NaotoMorita 19:3fae66745363 291 }
NaotoMorita 19:3fae66745363 292
NaotoMorita 19:3fae66745363 293 void ScErrStateEKF::defineQhat(Vector3 align){
NaotoMorita 19:3fae66745363 294 float cos_z_2 = cosf(0.5f*align.z);
NaotoMorita 19:3fae66745363 295 float cos_y_2 = cosf(0.5f*align.y);
NaotoMorita 19:3fae66745363 296 float cos_x_2 = cosf(0.5f*align.x);
NaotoMorita 19:3fae66745363 297
NaotoMorita 19:3fae66745363 298 float sin_z_2 = sinf(0.5f*align.z);
NaotoMorita 19:3fae66745363 299 float sin_y_2 = sinf(0.5f*align.y);
NaotoMorita 19:3fae66745363 300 float sin_x_2 = sinf(0.5f*align.x);
NaotoMorita 19:3fae66745363 301
NaotoMorita 19:3fae66745363 302 // and now compute quaternion
NaotoMorita 19:3fae66745363 303 qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 304 qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2;
NaotoMorita 19:3fae66745363 305 qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 306 qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 307 }
NaotoMorita 19:3fae66745363 308
NaotoMorita 19:3fae66745363 309 void ScErrStateEKF::triad(Vector3 fb, Vector3 fn, Vector3 mb, Vector3 mn){
NaotoMorita 19:3fae66745363 310 Matrix W1(3,1);
NaotoMorita 19:3fae66745363 311 W1 << fb.x << fb.y << fb.z;
NaotoMorita 19:3fae66745363 312 Matrix W2(3,1);
NaotoMorita 19:3fae66745363 313 W2 << mb.x << mb.y << mb.z;
NaotoMorita 19:3fae66745363 314
NaotoMorita 19:3fae66745363 315 Matrix V1(3,1);
NaotoMorita 19:3fae66745363 316 V1 << fn.x << fn.y << fn.z;
NaotoMorita 19:3fae66745363 317 Matrix V2(3,1);
NaotoMorita 19:3fae66745363 318 V2 << mn.x << mn.y << mn.z;
NaotoMorita 19:3fae66745363 319
NaotoMorita 19:3fae66745363 320
NaotoMorita 19:3fae66745363 321 Matrix Ou2(3,1);
NaotoMorita 19:3fae66745363 322 Ou2 << W1( 2, 1 )*W2( 3, 1 )-W1( 3, 1 )*W2( 2, 1 ) << W1( 3, 1 )*W2( 1, 1 )-W1( 1, 1 )*W2( 3, 1 ) << W1( 1, 1 )*W2( 2, 1 )-W1( 2, 1 )*W2( 1, 1 );
NaotoMorita 19:3fae66745363 323 Ou2 *= 1.0f/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou2),Ou2));
NaotoMorita 19:3fae66745363 324 Matrix Ou3(3,1);
NaotoMorita 19:3fae66745363 325 Ou3 << W1( 2, 1 )*Ou2( 3, 1 )-W1( 3, 1 )*Ou2( 2, 1 ) << W1( 3, 1 )*Ou2( 1, 1 )-W1( 1, 1 )*Ou2( 3, 1 ) << W1( 1, 1 )*Ou2( 2, 1 )-W1( 2, 1 )*Ou2( 1, 1 );
NaotoMorita 19:3fae66745363 326 Ou3 *= 1.0f/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou3),Ou3));
NaotoMorita 19:3fae66745363 327 Matrix R2(3,1);
NaotoMorita 19:3fae66745363 328 R2 << V1( 2, 1 )*V2( 3, 1 )-V1( 3, 1 )*V2( 2, 1 ) << V1( 3, 1 )*V2( 1, 1 )-V1( 1, 1 )*V2( 3, 1 ) << V1( 1, 1 )*V2( 2, 1 )-V1( 2, 1 )*V2( 1, 1 );
NaotoMorita 19:3fae66745363 329 R2 *= 1.0f/sqrt(MatrixMath::dot(MatrixMath::Transpose(R2),R2));
NaotoMorita 19:3fae66745363 330 Matrix R3(3,1);
NaotoMorita 19:3fae66745363 331 R3 << V1( 2, 1 )*R2( 3, 1 )-V1( 3, 1 )*R2( 2, 1 ) << V1( 3, 1 )*R2( 1, 1 )-V1( 1, 1 )*R2( 3, 1 ) << V1( 1, 1 )*R2( 2, 1 )-V1( 2, 1 )*R2( 1, 1 );
NaotoMorita 19:3fae66745363 332 R3 *= 1.0f/sqrt(MatrixMath::dot(MatrixMath::Transpose(R3),R3));
NaotoMorita 19:3fae66745363 333
NaotoMorita 19:3fae66745363 334 Matrix Mou(3,3);
NaotoMorita 19:3fae66745363 335 Mou << W1( 1, 1 ) << Ou2( 1, 1 ) << Ou3( 1, 1 )
NaotoMorita 19:3fae66745363 336 << W1( 2, 1 ) << Ou2( 2, 1 ) << Ou3( 2, 1 )
NaotoMorita 19:3fae66745363 337 << W1( 3, 1 ) << Ou2( 3, 1 ) << Ou3( 3, 1 );
NaotoMorita 19:3fae66745363 338 Matrix Mr(3,3);
NaotoMorita 19:3fae66745363 339 Mr << V1( 1, 1 ) << R2( 1, 1 ) << R3( 1, 1 )
NaotoMorita 19:3fae66745363 340 << V1( 2, 1 ) << R2( 2, 1 ) << R3( 2, 1 )
NaotoMorita 19:3fae66745363 341 << V1( 3, 1 ) << R2( 3, 1 ) << R3( 3, 1 );
NaotoMorita 19:3fae66745363 342
NaotoMorita 19:3fae66745363 343 Matrix Cbn = Mr*MatrixMath::Transpose(Mou);
NaotoMorita 19:3fae66745363 344
NaotoMorita 19:3fae66745363 345 float sqtrp1 = sqrt(1.0f+Cbn( 1, 1 )+Cbn( 2, 2 )+Cbn( 3, 3 ));
NaotoMorita 19:3fae66745363 346
NaotoMorita 19:3fae66745363 347 qhat(1,1) = 0.5f*sqtrp1;
NaotoMorita 19:3fae66745363 348 qhat(2,1) = -(Cbn( 2, 3 )-Cbn( 3, 2 ))/2.0f/sqtrp1;
NaotoMorita 19:3fae66745363 349 qhat(3,1) = -(Cbn( 3, 1 )-Cbn( 1, 3 ))/2.0f/sqtrp1;
NaotoMorita 19:3fae66745363 350 qhat(4,1) = -(Cbn( 1, 2 )-Cbn( 2, 1 ))/2.0f/sqtrp1;
NaotoMorita 19:3fae66745363 351
NaotoMorita 19:3fae66745363 352 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 353 qhat *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 354 }
NaotoMorita 19:3fae66745363 355
NaotoMorita 19:3fae66745363 356
NaotoMorita 19:3fae66745363 357 Vector3 ScErrStateEKF::calcDynAcc(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 358 {
NaotoMorita 19:3fae66745363 359 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 360 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 361 float _x, _y, _z;
NaotoMorita 19:3fae66745363 362 _x = acc.x-(dcm( 1, 1 )*accref.x+dcm( 1, 2 )*accref.y+dcm( 1, 3 )*accref.z);
NaotoMorita 19:3fae66745363 363 _y = acc.y-(dcm( 2, 1 )*accref.x+dcm( 2, 2 )*accref.y+dcm( 2, 3 )*accref.z);
NaotoMorita 19:3fae66745363 364 _z = acc.z-(dcm( 3, 1 )*accref.x+dcm( 3, 2 )*accref.y+dcm( 3, 3 )*accref.z);
NaotoMorita 19:3fae66745363 365 return Vector3(_x, _y, _z);
NaotoMorita 19:3fae66745363 366 }
NaotoMorita 19:3fae66745363 367
NaotoMorita 19:3fae66745363 368
NaotoMorita 19:3fae66745363 369 bool ScErrStateEKF::determinDynStatus(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 370 {
NaotoMorita 19:3fae66745363 371 histffunc[histffuncindex] = acc.Norm()*acc.Norm()-accref.Norm()*accref.Norm()-3.0f*sigma2a;
NaotoMorita 19:3fae66745363 372 if(histffuncindex<9){
NaotoMorita 19:3fae66745363 373 histffuncindex += 1;
NaotoMorita 19:3fae66745363 374 }else{
NaotoMorita 19:3fae66745363 375 histffuncindex =0;
NaotoMorita 19:3fae66745363 376 }
NaotoMorita 19:3fae66745363 377 aveffunc = 0;
NaotoMorita 19:3fae66745363 378 for(int i = 1;i<10;i++){
NaotoMorita 19:3fae66745363 379 aveffunc += 1.0f/10.0f*histffunc[i];
NaotoMorita 19:3fae66745363 380 }
NaotoMorita 19:3fae66745363 381 sigma2f = 1.0f/10.0f*(6.0f*sigma2a*sigma2a+4.0f*accref.Norm()*accref.Norm()*sigma2a);
NaotoMorita 19:3fae66745363 382
NaotoMorita 19:3fae66745363 383
NaotoMorita 19:3fae66745363 384 dynacc = calcDynAcc(acc,accref);
NaotoMorita 19:3fae66745363 385 bool dynCase = true;
NaotoMorita 19:3fae66745363 386 if((dynacc.Norm()<0.005f) && (abs(acc.Norm()-accref.Norm())<0.005f)){dynCase = false;}
NaotoMorita 19:3fae66745363 387 if(aveffunc<sqrt(sigma2f/0.99f) && abs(acc.Norm()-accref.Norm())<0.001f){dynCase = false;}
NaotoMorita 19:3fae66745363 388 return dynCase;
NaotoMorita 19:3fae66745363 389
NaotoMorita 19:3fae66745363 390 }
NaotoMorita 19:3fae66745363 391
NaotoMorita 19:3fae66745363 392