HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

ScErrStateEKF.cpp@39:6834e05d8a64, 2021-10-14 (annotated)

Committer:
osaka
Date:
Thu Oct 14 11:39:38 2021 +0000
Revision:
39:6834e05d8a64
Parent:
38:1f6532849c05
Child:
40:119792aa6d3b
changed some parameters

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()
osaka 38:1f6532849c05 11 :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)
NaotoMorita 19:3fae66745363 12 {
NaotoMorita 21:d6079def0473 13 nState = errState.getRows();
NaotoMorita 19:3fae66745363 14 qhat << 1.0f << 0.0f << 0.0f << 0.0f;
NaotoMorita 19:3fae66745363 15
osaka 39:6834e05d8a64 16 setDiag(Phat,0.1f);
osaka 39:6834e05d8a64 17 Phat(4,4) = 0.001;
osaka 39:6834e05d8a64 18 Phat(5,5) = 0.001;
osaka 39:6834e05d8a64 19 Phat(6,6) = 0.001;
osaka 39:6834e05d8a64 20 Phat(7,7) = 1.0;
osaka 39:6834e05d8a64 21 Phat(8,8) = 1.0;
osaka 39:6834e05d8a64 22 Phat(9,9) = 1.0;
osaka 39:6834e05d8a64 23 setQqerr(0.001f);
osaka 39:6834e05d8a64 24 setQgbias(0.0001f);
osaka 39:6834e05d8a64 25 setQabias(1.0f);
osaka 39:6834e05d8a64 26 setQv(0.01f);
NaotoMorita 19:3fae66745363 27
NaotoMorita 20:37d3c3ee36e9 28 //加速度の観測
osaka 39:6834e05d8a64 29 setDiag(Ra,0.1f);
osaka 39:6834e05d8a64 30 setDiag(Qab,1.5f);
NaotoMorita 20:37d3c3ee36e9 31
NaotoMorita 20:37d3c3ee36e9 32 //ジャイロバイアスに関する制約
osaka 39:6834e05d8a64 33 setDiag(Rgsc,500.0f);
NaotoMorita 20:37d3c3ee36e9 34
NaotoMorita 34:dec4b37db3f1 35 //地磁気（未使用）
NaotoMorita 21:d6079def0473 36 setDiag(Rm,5.0f);
NaotoMorita 19:3fae66745363 37
NaotoMorita 34:dec4b37db3f1 38 //GPS
osaka 39:6834e05d8a64 39 setDiag(Rgps,0.001f);
NaotoMorita 34:dec4b37db3f1 40 //降下速度
osaka 39:6834e05d8a64 41 setDiag(Rsr,0.001f);
NaotoMorita 26:73c3f58b9d70 42
NaotoMorita 19:3fae66745363 43 for(int i = 0; i<10;i++){
NaotoMorita 19:3fae66745363 44 histffunc[i] = 0.0f;
NaotoMorita 19:3fae66745363 45 }
NaotoMorita 19:3fae66745363 46 histffuncindex = 0 ;
NaotoMorita 19:3fae66745363 47 sigma2a = 0.000020f;
NaotoMorita 19:3fae66745363 48
NaotoMorita 19:3fae66745363 49
NaotoMorita 19:3fae66745363 50 }
NaotoMorita 19:3fae66745363 51
NaotoMorita 23:1509648c2318 52 void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt)
NaotoMorita 19:3fae66745363 53 {
NaotoMorita 19:3fae66745363 54 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 55 acc -= accBias;
NaotoMorita 19:3fae66745363 56 Matrix A(4,4);
NaotoMorita 19:3fae66745363 57 A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z
NaotoMorita 19:3fae66745363 58 << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y
NaotoMorita 19:3fae66745363 59 << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x
NaotoMorita 19:3fae66745363 60 << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ;
NaotoMorita 19:3fae66745363 61
NaotoMorita 20:37d3c3ee36e9 62 Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 19:3fae66745363 63 qhat = phi * qhat;
NaotoMorita 19:3fae66745363 64 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 65 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 66
NaotoMorita 23:1509648c2318 67 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 68 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 69 vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f;
NaotoMorita 19:3fae66745363 70 }
NaotoMorita 19:3fae66745363 71
NaotoMorita 23:1509648c2318 72 void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt)
NaotoMorita 23:1509648c2318 73 {
NaotoMorita 23:1509648c2318 74 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 75 acc -= accBias;
NaotoMorita 23:1509648c2318 76 Matrix A(nState,nState);
NaotoMorita 23:1509648c2318 77 A(1,2) = gyro.z;
NaotoMorita 23:1509648c2318 78 A(1,3) = -gyro.y;
NaotoMorita 23:1509648c2318 79 A(2,1) = -gyro.z;
NaotoMorita 23:1509648c2318 80 A(2,3) = gyro.x;
NaotoMorita 23:1509648c2318 81 A(3,1) = gyro.y;
NaotoMorita 23:1509648c2318 82 A(3,2) = -gyro.x;
osaka 38:1f6532849c05 83 A(1,4) = -0.5f;
osaka 38:1f6532849c05 84 A(2,5) = -0.5f;
osaka 38:1f6532849c05 85 A(3,6) = -0.5f;
NaotoMorita 23:1509648c2318 86
NaotoMorita 23:1509648c2318 87 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 88 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 89 Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z);
NaotoMorita 23:1509648c2318 90 Matrix baterm = -9.8f*MatrixMath::Transpose(dcm);
NaotoMorita 23:1509648c2318 91 for (int i = 1; i < 4; i++){
NaotoMorita 23:1509648c2318 92 for (int j = 1; i < 4; i++){
osaka 38:1f6532849c05 93 A(i+9,j) = qeterm(i,j);
osaka 38:1f6532849c05 94 A(i+9,j+6) = baterm(i,j);
NaotoMorita 23:1509648c2318 95 }
NaotoMorita 23:1509648c2318 96 }
NaotoMorita 23:1509648c2318 97
NaotoMorita 23:1509648c2318 98 Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 23:1509648c2318 99 Matrix Qd = Q * att_dt + 0.5f*A*Q * att_dt * att_dt+ 0.5f*Q*MatrixMath::Transpose(A) * att_dt * att_dt;
NaotoMorita 23:1509648c2318 100 errState = phi * errState;
NaotoMorita 23:1509648c2318 101 Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd;
NaotoMorita 23:1509648c2318 102 }
NaotoMorita 20:37d3c3ee36e9 103 void ScErrStateEKF::setQqerr(float val){
NaotoMorita 20:37d3c3ee36e9 104 Q(1,1) = val;
NaotoMorita 20:37d3c3ee36e9 105 Q(2,2) = val;
NaotoMorita 20:37d3c3ee36e9 106 Q(3,3) = val;
NaotoMorita 20:37d3c3ee36e9 107 }
NaotoMorita 20:37d3c3ee36e9 108
NaotoMorita 20:37d3c3ee36e9 109 void ScErrStateEKF::setQgbias(float val){
NaotoMorita 20:37d3c3ee36e9 110 Q(4,4) = val;
NaotoMorita 20:37d3c3ee36e9 111 Q(5,5) = val;
NaotoMorita 20:37d3c3ee36e9 112 Q(6,6) = val;
NaotoMorita 20:37d3c3ee36e9 113 }
osaka 38:1f6532849c05 114 void ScErrStateEKF::setQabias(float val){
NaotoMorita 20:37d3c3ee36e9 115 Q(7,7) = val;
NaotoMorita 20:37d3c3ee36e9 116 Q(8,8) = val;
NaotoMorita 20:37d3c3ee36e9 117 Q(9,9) = val;
NaotoMorita 20:37d3c3ee36e9 118 }
osaka 38:1f6532849c05 119 void ScErrStateEKF::setQv(float val){
osaka 38:1f6532849c05 120 Q(10,10) = val;
osaka 38:1f6532849c05 121 Q(11,11) = val;
osaka 38:1f6532849c05 122 Q(12,12) = val;
osaka 38:1f6532849c05 123 }
NaotoMorita 21:d6079def0473 124
NaotoMorita 20:37d3c3ee36e9 125 void ScErrStateEKF::setQab(float val){
NaotoMorita 21:d6079def0473 126 setDiag(Qab,val);
NaotoMorita 20:37d3c3ee36e9 127 }
NaotoMorita 20:37d3c3ee36e9 128
NaotoMorita 23:1509648c2318 129
NaotoMorita 20:37d3c3ee36e9 130 void ScErrStateEKF::setRsoftconst(float Vgsc,float Vvsc){
NaotoMorita 21:d6079def0473 131 setDiag(Rgsc,Vgsc);
NaotoMorita 23:1509648c2318 132 setDiag(Rvsc,Vvsc);
NaotoMorita 20:37d3c3ee36e9 133 }
NaotoMorita 20:37d3c3ee36e9 134
NaotoMorita 21:d6079def0473 135 void ScErrStateEKF::setDiag(Matrix& mat, float val){
NaotoMorita 21:d6079def0473 136 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 21:d6079def0473 137 mat(i,i) = val;
NaotoMorita 21:d6079def0473 138 }
NaotoMorita 21:d6079def0473 139 }
NaotoMorita 20:37d3c3ee36e9 140
NaotoMorita 25:07ac5c6cd61c 141 void ScErrStateEKF::getQhat(float (&res)[4]){
NaotoMorita 25:07ac5c6cd61c 142 for (int i = 0; i < 4; i++){
NaotoMorita 25:07ac5c6cd61c 143 res[i] = qhat(i+1,1);
NaotoMorita 25:07ac5c6cd61c 144 }
NaotoMorita 25:07ac5c6cd61c 145 }
NaotoMorita 25:07ac5c6cd61c 146
NaotoMorita 25:07ac5c6cd61c 147 void ScErrStateEKF::getVihat(float (&res)[3]){
NaotoMorita 25:07ac5c6cd61c 148 for (int i = 0; i < 3; i++){
NaotoMorita 25:07ac5c6cd61c 149 res[i] = vihat(i+1,1);
NaotoMorita 25:07ac5c6cd61c 150 }
NaotoMorita 25:07ac5c6cd61c 151 }
NaotoMorita 25:07ac5c6cd61c 152
NaotoMorita 25:07ac5c6cd61c 153 void ScErrStateEKF::getGyroBias(float (&resVal)[3], float (&resCov)[6]){
NaotoMorita 25:07ac5c6cd61c 154 resVal[0] = gyroBias.x;
NaotoMorita 25:07ac5c6cd61c 155 resVal[1] = gyroBias.y;
NaotoMorita 25:07ac5c6cd61c 156 resVal[2] = gyroBias.z;
osaka 38:1f6532849c05 157 resCov[0] = Phat(4,4);
osaka 38:1f6532849c05 158 resCov[1] = Phat(4,5);
osaka 38:1f6532849c05 159 resCov[2] = Phat(4,6);
osaka 38:1f6532849c05 160 resCov[3] = Phat(5,5);
osaka 38:1f6532849c05 161 resCov[4] = Phat(5,6);
osaka 38:1f6532849c05 162 resCov[5] = Phat(6,6);
NaotoMorita 25:07ac5c6cd61c 163
NaotoMorita 25:07ac5c6cd61c 164 }
NaotoMorita 25:07ac5c6cd61c 165
NaotoMorita 25:07ac5c6cd61c 166 void ScErrStateEKF::getAccBias(float (&resVal)[3], float (&resCov)[6]){
NaotoMorita 25:07ac5c6cd61c 167 resVal[0] = accBias.x;
NaotoMorita 25:07ac5c6cd61c 168 resVal[1] = accBias.y;
NaotoMorita 25:07ac5c6cd61c 169 resVal[2] = accBias.z;
osaka 38:1f6532849c05 170 resCov[0] = Phat(7,7);
osaka 38:1f6532849c05 171 resCov[1] = Phat(7,8);
osaka 38:1f6532849c05 172 resCov[2] = Phat(7,9);
osaka 38:1f6532849c05 173 resCov[3] = Phat(8,8);
osaka 38:1f6532849c05 174 resCov[4] = Phat(8,9);
osaka 38:1f6532849c05 175 resCov[5] = Phat(9,9);
NaotoMorita 25:07ac5c6cd61c 176
NaotoMorita 25:07ac5c6cd61c 177 }
NaotoMorita 25:07ac5c6cd61c 178
NaotoMorita 19:3fae66745363 179
NaotoMorita 19:3fae66745363 180 void ScErrStateEKF::updateAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 181 {
NaotoMorita 21:d6079def0473 182 acc -= accBias;
NaotoMorita 20:37d3c3ee36e9 183 Matrix dcm(3,3);
NaotoMorita 20:37d3c3ee36e9 184 computeDcm(dcm, qhat);
NaotoMorita 20:37d3c3ee36e9 185 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 21:d6079def0473 186 Matrix H(3,nState);
NaotoMorita 20:37d3c3ee36e9 187 H(1,2) = -2.0f*gvec.z;
NaotoMorita 20:37d3c3ee36e9 188 H(1,3) = 2.0f*gvec.y;
NaotoMorita 20:37d3c3ee36e9 189 H(2,1) = 2.0f*gvec.z;
NaotoMorita 20:37d3c3ee36e9 190 H(2,3) = -2.0f*gvec.x;
NaotoMorita 20:37d3c3ee36e9 191 H(3,1) = -2.0f*gvec.y;
NaotoMorita 20:37d3c3ee36e9 192 H(3,2) = 2.0f*gvec.x;
osaka 38:1f6532849c05 193 H(1,7) = 1.0f;
osaka 38:1f6532849c05 194 H(2,8) = 1.0f;
osaka 38:1f6532849c05 195 H(3,9) = 1.0f;
NaotoMorita 20:37d3c3ee36e9 196 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra+Qab);
NaotoMorita 21:d6079def0473 197 Matrix z = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 20:37d3c3ee36e9 198 Matrix corrVal = K * (z-H*errState);
NaotoMorita 20:37d3c3ee36e9 199 errState = errState + corrVal;
NaotoMorita 21:d6079def0473 200 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra+Qab)*MatrixMath::Transpose(K);
NaotoMorita 20:37d3c3ee36e9 201 }
NaotoMorita 20:37d3c3ee36e9 202
NaotoMorita 20:37d3c3ee36e9 203 void ScErrStateEKF::updateGyroBiasConstraints(Vector3 gyro)
NaotoMorita 20:37d3c3ee36e9 204 {
NaotoMorita 21:d6079def0473 205 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 206 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 207 computeDcm(dcm, qhat);
osaka 38:1f6532849c05 208 Matrix H(2,nState);
osaka 38:1f6532849c05 209 H(1,4) = 1.0f*(dcm(1,1));
osaka 38:1f6532849c05 210 H(1,5) = 1.0f*(dcm(2,1));
osaka 38:1f6532849c05 211 H(1,6) = 1.0f*(dcm(3,1));
osaka 38:1f6532849c05 212 H(2,4) = 1.0f*(dcm(1,2));
osaka 38:1f6532849c05 213 H(2,5) = 1.0f*(dcm(2,2));
osaka 38:1f6532849c05 214 H(2,6) = 1.0f*(dcm(3,2));
NaotoMorita 23:1509648c2318 215
osaka 38:1f6532849c05 216 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rgsc);
NaotoMorita 31:e655d4d8e4d6 217 Matrix z(2,1);
NaotoMorita 31:e655d4d8e4d6 218 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;
osaka 38:1f6532849c05 219 Matrix corrVal = K * (z-H*errState);
osaka 38:1f6532849c05 220 errState = errState + corrVal;
osaka 38:1f6532849c05 221 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgsc)*MatrixMath::Transpose(K);
NaotoMorita 23:1509648c2318 222 }
NaotoMorita 23:1509648c2318 223
NaotoMorita 23:1509648c2318 224
NaotoMorita 19:3fae66745363 225 void ScErrStateEKF::updateStaticAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 226 {
NaotoMorita 19:3fae66745363 227 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 228 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 229 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 21:d6079def0473 230 Matrix H(3,nState);
NaotoMorita 19:3fae66745363 231 H(1,2) = -2.0f*gvec.z;
NaotoMorita 19:3fae66745363 232 H(1,3) = 2.0f*gvec.y;
NaotoMorita 19:3fae66745363 233 H(2,1) = 2.0f*gvec.z;
NaotoMorita 19:3fae66745363 234 H(2,3) = -2.0f*gvec.x;
NaotoMorita 19:3fae66745363 235 H(3,1) = -2.0f*gvec.y;
NaotoMorita 19:3fae66745363 236 H(3,2) = 2.0f*gvec.x;
NaotoMorita 19:3fae66745363 237 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra*100.0f);
NaotoMorita 19:3fae66745363 238 Matrix accmat(3,1);
NaotoMorita 19:3fae66745363 239 accmat << acc.x << acc.y << acc.z;
NaotoMorita 19:3fae66745363 240 Matrix gref(3,1);
NaotoMorita 19:3fae66745363 241 gref << 0.0f << 0.0f << accref.z;
NaotoMorita 19:3fae66745363 242 Matrix z = accmat-dcm*gref;
NaotoMorita 19:3fae66745363 243 errState = errState + K * (z-H*errState);
NaotoMorita 21:d6079def0473 244 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra*100.0f)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 245 }
NaotoMorita 19:3fae66745363 246
NaotoMorita 32:321a756e12ad 247 void ScErrStateEKF::updateGPSVelocity(float vi_x, float vi_y, float sinkRate,Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 248 {
NaotoMorita 31:e655d4d8e4d6 249 acc -= accBias;
NaotoMorita 31:e655d4d8e4d6 250 Matrix dcm(3,3);
NaotoMorita 31:e655d4d8e4d6 251 computeDcm(dcm, qhat);
NaotoMorita 31:e655d4d8e4d6 252 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 32:321a756e12ad 253 Matrix H(6,nState);
NaotoMorita 31:e655d4d8e4d6 254 H(1,2) = -2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 255 H(1,3) = 2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 256 H(2,1) = 2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 257 H(2,3) = -2.0f*gvec.x;
NaotoMorita 31:e655d4d8e4d6 258 H(3,1) = -2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 259 H(3,2) = 2.0f*gvec.x;
osaka 38:1f6532849c05 260 H(1,7) = 1.0f;
osaka 38:1f6532849c05 261 H(2,8) = 1.0f;
osaka 38:1f6532849c05 262 H(3,9) = 1.0f;
osaka 38:1f6532849c05 263 H(4,10) = 1.0f;
osaka 38:1f6532849c05 264 H(5,11) = 1.0f;
osaka 38:1f6532849c05 265 H(6,12) = 1.0f;
NaotoMorita 31:e655d4d8e4d6 266
NaotoMorita 32:321a756e12ad 267 Matrix R(6,6);
NaotoMorita 31:e655d4d8e4d6 268 R(1,1) = Ra(1,1)+Qab(1,1);
NaotoMorita 31:e655d4d8e4d6 269 R(2,2) = Ra(2,2)+Qab(2,2);
NaotoMorita 31:e655d4d8e4d6 270 R(3,3) = Ra(3,3)+Qab(3,3);
NaotoMorita 31:e655d4d8e4d6 271 R(4,4) = Rgps(1,1);
NaotoMorita 31:e655d4d8e4d6 272 R(5,5) = Rgps(2,2);
NaotoMorita 32:321a756e12ad 273 R(6,6) = Rsr(1,1);
NaotoMorita 31:e655d4d8e4d6 274
NaotoMorita 31:e655d4d8e4d6 275 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 31:e655d4d8e4d6 276 Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 32:321a756e12ad 277 Matrix z(6,1);
osaka 39:6834e05d8a64 278 z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << vi_x - vihat(1,1) << vi_y-vihat(2,1) << sinkRate - vihat(3,1);
osaka 39:6834e05d8a64 279 //z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << vi_x - vihat(1,1) << vi_y-vihat(2,1);
NaotoMorita 26:73c3f58b9d70 280 Matrix corrVal = K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 281 errState = errState + corrVal;
NaotoMorita 31:e655d4d8e4d6 282 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 283 }
NaotoMorita 19:3fae66745363 284
NaotoMorita 31:e655d4d8e4d6 285 void ScErrStateEKF::updateSinkRate(float sinkRate,Vector3 acc, Vector3 accref)
NaotoMorita 30:ff884e9b2e30 286 {
NaotoMorita 31:e655d4d8e4d6 287 acc -= accBias;
NaotoMorita 31:e655d4d8e4d6 288 Matrix dcm(3,3);
NaotoMorita 31:e655d4d8e4d6 289 computeDcm(dcm, qhat);
NaotoMorita 31:e655d4d8e4d6 290 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 31:e655d4d8e4d6 291 Matrix H(4,nState);
NaotoMorita 31:e655d4d8e4d6 292 H(1,2) = -2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 293 H(1,3) = 2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 294 H(2,1) = 2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 295 H(2,3) = -2.0f*gvec.x;
NaotoMorita 31:e655d4d8e4d6 296 H(3,1) = -2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 297 H(3,2) = 2.0f*gvec.x;
osaka 38:1f6532849c05 298 H(1,7) = 1.0f;
osaka 38:1f6532849c05 299 H(2,8) = 1.0f;
osaka 38:1f6532849c05 300 H(3,9) = 1.0f;
osaka 38:1f6532849c05 301 H(4,12) = 1.0f;
NaotoMorita 31:e655d4d8e4d6 302
NaotoMorita 31:e655d4d8e4d6 303 Matrix R(4,4);
NaotoMorita 31:e655d4d8e4d6 304 R(1,1) = Ra(1,1)+Qab(1,1);
NaotoMorita 31:e655d4d8e4d6 305 R(2,2) = Ra(2,2)+Qab(2,2);
NaotoMorita 31:e655d4d8e4d6 306 R(3,3) = Ra(3,3)+Qab(3,3);
NaotoMorita 31:e655d4d8e4d6 307 R(4,4) = Rsr(1,1);
NaotoMorita 31:e655d4d8e4d6 308
NaotoMorita 31:e655d4d8e4d6 309 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 31:e655d4d8e4d6 310 Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 31:e655d4d8e4d6 311 Matrix z(4,1);
NaotoMorita 31:e655d4d8e4d6 312 z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << sinkRate - vihat(3,1);
NaotoMorita 30:ff884e9b2e30 313 Matrix corrVal = K * (z-H*errState);
NaotoMorita 30:ff884e9b2e30 314 errState = errState + corrVal;
NaotoMorita 31:e655d4d8e4d6 315 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 30:ff884e9b2e30 316 }
NaotoMorita 30:ff884e9b2e30 317
NaotoMorita 25:07ac5c6cd61c 318 void ScErrStateEKF::updateCenteredGyroBiasCorrection(float (&cBg)[3])
NaotoMorita 25:07ac5c6cd61c 319 {
NaotoMorita 25:07ac5c6cd61c 320
NaotoMorita 25:07ac5c6cd61c 321 Matrix RgyroBias(3,3);
NaotoMorita 25:07ac5c6cd61c 322 for(int i = 1;i<4;i++){
NaotoMorita 25:07ac5c6cd61c 323 RgyroBias(i,i) = 0.1f;
NaotoMorita 25:07ac5c6cd61c 324 }
NaotoMorita 25:07ac5c6cd61c 325
osaka 38:1f6532849c05 326 Matrix H(3,nState);
osaka 38:1f6532849c05 327 H(1,4) = 1.0f;
osaka 38:1f6532849c05 328 H(2,5) = 1.0f;
osaka 38:1f6532849c05 329 H(3,6) = 1.0f;
NaotoMorita 25:07ac5c6cd61c 330
osaka 38:1f6532849c05 331 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RgyroBias);
NaotoMorita 25:07ac5c6cd61c 332 Matrix z(3,1);
NaotoMorita 25:07ac5c6cd61c 333 z <<cBg[0]-gyroBias.x <<cBg[1]-gyroBias.y <<cBg[2]-gyroBias.z;
osaka 38:1f6532849c05 334 Matrix corrVal = K * (z-H*errState);
osaka 38:1f6532849c05 335 errState = errState + corrVal;
osaka 38:1f6532849c05 336 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RgyroBias)*MatrixMath::Transpose(K);
NaotoMorita 25:07ac5c6cd61c 337
NaotoMorita 25:07ac5c6cd61c 338 }
NaotoMorita 25:07ac5c6cd61c 339
NaotoMorita 19:3fae66745363 340 void ScErrStateEKF::resetBias()
NaotoMorita 19:3fae66745363 341 {
osaka 38:1f6532849c05 342 gyroBias.x = gyroBias.x + errState(4,1)*1.0f;
osaka 38:1f6532849c05 343 gyroBias.y = gyroBias.y + errState(5,1)*1.0f;
osaka 38:1f6532849c05 344 gyroBias.z = gyroBias.z + errState(6,1)*1.0f;
NaotoMorita 19:3fae66745363 345 errState(4,1) = 0.0f;
NaotoMorita 19:3fae66745363 346 errState(5,1) = 0.0f;
NaotoMorita 19:3fae66745363 347 errState(6,1) = 0.0f;
osaka 38:1f6532849c05 348 accBias.x = accBias.x + errState(7,1);
osaka 38:1f6532849c05 349 accBias.y = accBias.y + errState(8,1);
osaka 38:1f6532849c05 350 accBias.z = accBias.z + errState(9,1);
osaka 38:1f6532849c05 351 errState(7,1) = 0.0f;
osaka 38:1f6532849c05 352 errState(8,1) = 0.0f;
osaka 38:1f6532849c05 353 errState(9,1) = 0.0f;
NaotoMorita 19:3fae66745363 354 }
NaotoMorita 19:3fae66745363 355
NaotoMorita 19:3fae66745363 356 void ScErrStateEKF::computeAngles(Vector3& rpy,Vector3 rpy_align)
NaotoMorita 19:3fae66745363 357 {
NaotoMorita 19:3fae66745363 358 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 359 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 360 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 361 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 362 Matrix qest = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 363 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qest),qest));
NaotoMorita 19:3fae66745363 364 qest *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 365 float q0 = qest( 1, 1 );
NaotoMorita 19:3fae66745363 366 float q1 = qest( 2, 1 );
NaotoMorita 19:3fae66745363 367 float q2 = qest( 3, 1 );
NaotoMorita 19:3fae66745363 368 float q3 = qest( 4, 1 );
NaotoMorita 19:3fae66745363 369 rpy.x = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-rpy_align.x;
NaotoMorita 19:3fae66745363 370 rpy.y = asinf(-2.0f * (q1*q3 - q0*q2))-rpy_align.y;
NaotoMorita 19:3fae66745363 371 rpy.z = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 19:3fae66745363 372
NaotoMorita 19:3fae66745363 373 }
NaotoMorita 19:3fae66745363 374
NaotoMorita 21:d6079def0473 375
NaotoMorita 21:d6079def0473 376 void ScErrStateEKF::fuseErr2Nominal()
NaotoMorita 19:3fae66745363 377 {
NaotoMorita 19:3fae66745363 378 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 379 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 380 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 381 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 382 qhat = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 383 errState(1,1) = 0.0f;
NaotoMorita 19:3fae66745363 384 errState(2,1) = 0.0f;
NaotoMorita 19:3fae66745363 385 errState(3,1) = 0.0f;
NaotoMorita 19:3fae66745363 386 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 387 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 388
osaka 38:1f6532849c05 389 vihat(1,1) += errState(10,1);
osaka 38:1f6532849c05 390 vihat(2,1) += errState(11,1);
osaka 38:1f6532849c05 391 vihat(3,1) += errState(12,1);
osaka 38:1f6532849c05 392 errState(10,1) = 0.0f;
osaka 38:1f6532849c05 393 errState(11,1) = 0.0f;
osaka 38:1f6532849c05 394 errState(12,1) = 0.0f;
NaotoMorita 19:3fae66745363 395 }
NaotoMorita 19:3fae66745363 396
NaotoMorita 19:3fae66745363 397 Matrix ScErrStateEKF::quatmultiply(Matrix q, Matrix r)
NaotoMorita 19:3fae66745363 398 {
NaotoMorita 19:3fae66745363 399 Matrix qout(4,1);
NaotoMorita 19:3fae66745363 400 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 401 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 402 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 403 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 404 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout));
NaotoMorita 19:3fae66745363 405 qout *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 406 return qout;
NaotoMorita 19:3fae66745363 407 }
NaotoMorita 19:3fae66745363 408
NaotoMorita 19:3fae66745363 409 void ScErrStateEKF::computeDcm(Matrix& dcm, Matrix quat)
NaotoMorita 19:3fae66745363 410 {
NaotoMorita 19:3fae66745363 411
NaotoMorita 19:3fae66745363 412 float q0 = quat( 1, 1 );
NaotoMorita 19:3fae66745363 413 float q1 = quat( 2, 1 );
NaotoMorita 19:3fae66745363 414 float q2 = quat( 3, 1 );
NaotoMorita 19:3fae66745363 415 float q3 = quat( 4, 1 );
NaotoMorita 19:3fae66745363 416
NaotoMorita 19:3fae66745363 417 dcm(1,1) = q0*q0 + q1*q1 - q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 418 dcm(1,2) = 2*(q1*q2 + q0*q3);
NaotoMorita 19:3fae66745363 419 dcm(1,3) = 2*(q1*q3 - q0*q2);
NaotoMorita 19:3fae66745363 420 dcm(2,1) = 2*(q1*q2 - q0*q3);
NaotoMorita 19:3fae66745363 421 dcm(2,2) = q0*q0 - q1*q1 + q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 422 dcm(2,3) = 2*(q2*q3 + q0*q1);
NaotoMorita 19:3fae66745363 423 dcm(3,1) = 2*(q1*q3 + q0*q2);
NaotoMorita 19:3fae66745363 424 dcm(3,2) = 2*(q2*q3 - q0*q1);
NaotoMorita 19:3fae66745363 425 dcm(3,3) = q0*q0 - q1*q1 - q2*q2 + q3*q3;
NaotoMorita 19:3fae66745363 426
NaotoMorita 19:3fae66745363 427 }
NaotoMorita 19:3fae66745363 428
NaotoMorita 19:3fae66745363 429 void ScErrStateEKF::defineQhat(Vector3 align){
NaotoMorita 19:3fae66745363 430 float cos_z_2 = cosf(0.5f*align.z);
NaotoMorita 19:3fae66745363 431 float cos_y_2 = cosf(0.5f*align.y);
NaotoMorita 19:3fae66745363 432 float cos_x_2 = cosf(0.5f*align.x);
NaotoMorita 19:3fae66745363 433
NaotoMorita 19:3fae66745363 434 float sin_z_2 = sinf(0.5f*align.z);
NaotoMorita 19:3fae66745363 435 float sin_y_2 = sinf(0.5f*align.y);
NaotoMorita 19:3fae66745363 436 float sin_x_2 = sinf(0.5f*align.x);
NaotoMorita 19:3fae66745363 437
NaotoMorita 19:3fae66745363 438 // and now compute quaternion
NaotoMorita 19:3fae66745363 439 qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 440 qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2;
NaotoMorita 19:3fae66745363 441 qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 442 qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 443 }
NaotoMorita 19:3fae66745363 444
NaotoMorita 23:1509648c2318 445 void ScErrStateEKF::computeVb(Vector3& vb)
NaotoMorita 23:1509648c2318 446 {
NaotoMorita 23:1509648c2318 447 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 448 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 449 Matrix vbmat = dcm*vihat;
NaotoMorita 23:1509648c2318 450 vb.x = vbmat(1,1);
NaotoMorita 23:1509648c2318 451 vb.y = vbmat(2,1);
NaotoMorita 23:1509648c2318 452 vb.z = vbmat(3,1);
NaotoMorita 23:1509648c2318 453
NaotoMorita 23:1509648c2318 454 }
NaotoMorita 23:1509648c2318 455
NaotoMorita 19:3fae66745363 456
NaotoMorita 19:3fae66745363 457
NaotoMorita 19:3fae66745363 458 Vector3 ScErrStateEKF::calcDynAcc(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 459 {
NaotoMorita 19:3fae66745363 460 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 461 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 462 float _x, _y, _z;
NaotoMorita 19:3fae66745363 463 _x = acc.x-(dcm( 1, 1 )*accref.x+dcm( 1, 2 )*accref.y+dcm( 1, 3 )*accref.z);
NaotoMorita 19:3fae66745363 464 _y = acc.y-(dcm( 2, 1 )*accref.x+dcm( 2, 2 )*accref.y+dcm( 2, 3 )*accref.z);
NaotoMorita 19:3fae66745363 465 _z = acc.z-(dcm( 3, 1 )*accref.x+dcm( 3, 2 )*accref.y+dcm( 3, 3 )*accref.z);
NaotoMorita 19:3fae66745363 466 return Vector3(_x, _y, _z);
NaotoMorita 19:3fae66745363 467 }
NaotoMorita 19:3fae66745363 468
NaotoMorita 19:3fae66745363 469
NaotoMorita 19:3fae66745363 470 bool ScErrStateEKF::determinDynStatus(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 471 {
NaotoMorita 19:3fae66745363 472 histffunc[histffuncindex] = acc.Norm()*acc.Norm()-accref.Norm()*accref.Norm()-3.0f*sigma2a;
NaotoMorita 19:3fae66745363 473 if(histffuncindex<9){
NaotoMorita 19:3fae66745363 474 histffuncindex += 1;
NaotoMorita 19:3fae66745363 475 }else{
NaotoMorita 19:3fae66745363 476 histffuncindex =0;
NaotoMorita 19:3fae66745363 477 }
NaotoMorita 19:3fae66745363 478 aveffunc = 0;
NaotoMorita 19:3fae66745363 479 for(int i = 1;i<10;i++){
NaotoMorita 19:3fae66745363 480 aveffunc += 1.0f/10.0f*histffunc[i];
NaotoMorita 19:3fae66745363 481 }
NaotoMorita 19:3fae66745363 482 sigma2f = 1.0f/10.0f*(6.0f*sigma2a*sigma2a+4.0f*accref.Norm()*accref.Norm()*sigma2a);
NaotoMorita 19:3fae66745363 483
NaotoMorita 19:3fae66745363 484
NaotoMorita 19:3fae66745363 485 dynacc = calcDynAcc(acc,accref);
NaotoMorita 19:3fae66745363 486 bool dynCase = true;
NaotoMorita 19:3fae66745363 487 if((dynacc.Norm()<0.005f) && (abs(acc.Norm()-accref.Norm())<0.005f)){dynCase = false;}
NaotoMorita 19:3fae66745363 488 if(aveffunc<sqrt(sigma2f/0.99f) && abs(acc.Norm()-accref.Norm())<0.001f){dynCase = false;}
NaotoMorita 19:3fae66745363 489 return dynCase;
NaotoMorita 19:3fae66745363 490
NaotoMorita 19:3fae66745363 491 }
NaotoMorita 19:3fae66745363 492
NaotoMorita 22:7d84b8bc20b4 493 /*
NaotoMorita 22:7d84b8bc20b4 494 void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt)
NaotoMorita 22:7d84b8bc20b4 495 {
NaotoMorita 22:7d84b8bc20b4 496 gyro -= gyroBias;
NaotoMorita 22:7d84b8bc20b4 497 acc -= accBias;
NaotoMorita 22:7d84b8bc20b4 498 Matrix A(4,4);
NaotoMorita 22:7d84b8bc20b4 499 A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z
NaotoMorita 22:7d84b8bc20b4 500 << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y
NaotoMorita 22:7d84b8bc20b4 501 << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x
NaotoMorita 22:7d84b8bc20b4 502 << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ;
NaotoMorita 22:7d84b8bc20b4 503
NaotoMorita 22:7d84b8bc20b4 504 Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 22:7d84b8bc20b4 505 qhat = phi * qhat;
NaotoMorita 22:7d84b8bc20b4 506 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 22:7d84b8bc20b4 507 qhat *= (1.0f/ qnorm);
NaotoMorita 22:7d84b8bc20b4 508
NaotoMorita 22:7d84b8bc20b4 509 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 510 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 511 vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f;
NaotoMorita 22:7d84b8bc20b4 512 }
NaotoMorita 19:3fae66745363 513
NaotoMorita 22:7d84b8bc20b4 514 void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt)
NaotoMorita 22:7d84b8bc20b4 515 {
NaotoMorita 22:7d84b8bc20b4 516 gyro -= gyroBias;
NaotoMorita 22:7d84b8bc20b4 517 acc -= accBias;
NaotoMorita 22:7d84b8bc20b4 518 Matrix A(nState,nState);
NaotoMorita 22:7d84b8bc20b4 519 A(1,2) = gyro.z;
NaotoMorita 22:7d84b8bc20b4 520 A(1,3) = -gyro.y;
NaotoMorita 22:7d84b8bc20b4 521 A(2,1) = -gyro.z;
NaotoMorita 22:7d84b8bc20b4 522 A(2,3) = gyro.x;
NaotoMorita 22:7d84b8bc20b4 523 A(3,1) = gyro.y;
NaotoMorita 22:7d84b8bc20b4 524 A(3,2) = -gyro.x;
NaotoMorita 22:7d84b8bc20b4 525 A(1,4) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 526 A(2,5) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 527 A(3,6) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 528
NaotoMorita 22:7d84b8bc20b4 529 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 530 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 531 Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z);
NaotoMorita 22:7d84b8bc20b4 532 Matrix baterm = -9.8f*MatrixMath::Transpose(dcm);
NaotoMorita 22:7d84b8bc20b4 533 for (int i = 1; i < 4; i++){
NaotoMorita 22:7d84b8bc20b4 534 for (int j = 1; i < 4; i++){
NaotoMorita 22:7d84b8bc20b4 535 A(i+9,j) = qeterm(i,j);
NaotoMorita 22:7d84b8bc20b4 536 A(i+9,j+6) = baterm(i,j);
NaotoMorita 22:7d84b8bc20b4 537 }
NaotoMorita 22:7d84b8bc20b4 538 }
NaotoMorita 22:7d84b8bc20b4 539
NaotoMorita 22:7d84b8bc20b4 540 Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 22:7d84b8bc20b4 541 Matrix Qd = Q * att_dt + 0.5f*A*Q * att_dt * att_dt+ 0.5f*Q*MatrixMath::Transpose(A) * att_dt * att_dt;
NaotoMorita 22:7d84b8bc20b4 542 errState = phi * errState;
NaotoMorita 22:7d84b8bc20b4 543 Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd;
NaotoMorita 22:7d84b8bc20b4 544 }
NaotoMorita 22:7d84b8bc20b4 545
NaotoMorita 22:7d84b8bc20b4 546 void ScErrStateEKF::updateVelocityConstraints()
NaotoMorita 22:7d84b8bc20b4 547 {
NaotoMorita 22:7d84b8bc20b4 548
NaotoMorita 22:7d84b8bc20b4 549 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 550 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 551 Matrix H(2,nState);
NaotoMorita 22:7d84b8bc20b4 552
NaotoMorita 22:7d84b8bc20b4 553 Matrix nomVb = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 554 Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 22:7d84b8bc20b4 555 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 556 H(1,j) = -qeterm(1,j);
NaotoMorita 22:7d84b8bc20b4 557 H(2,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 558 //H(3,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 559 H(1,9+j) = -dcm(1,j);
NaotoMorita 22:7d84b8bc20b4 560 H(2,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 561 //H(3,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 562 }
NaotoMorita 22:7d84b8bc20b4 563
NaotoMorita 22:7d84b8bc20b4 564 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc);
NaotoMorita 22:7d84b8bc20b4 565 Matrix z(2,1);
NaotoMorita 22:7d84b8bc20b4 566 z << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 22:7d84b8bc20b4 567 Matrix corrVal = K * (z-H*errState);
NaotoMorita 22:7d84b8bc20b4 568 errState = errState + corrVal;
NaotoMorita 22:7d84b8bc20b4 569 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K);
NaotoMorita 22:7d84b8bc20b4 570
NaotoMorita 22:7d84b8bc20b4 571 }
NaotoMorita 22:7d84b8bc20b4 572
NaotoMorita 22:7d84b8bc20b4 573 void ScErrStateEKF::updateConstraints(Vector3 gyro)
NaotoMorita 22:7d84b8bc20b4 574 {
NaotoMorita 22:7d84b8bc20b4 575
NaotoMorita 22:7d84b8bc20b4 576 gyro -=gyroBias;
NaotoMorita 22:7d84b8bc20b4 577
NaotoMorita 22:7d84b8bc20b4 578 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 579 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 580
NaotoMorita 22:7d84b8bc20b4 581 Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z);
NaotoMorita 22:7d84b8bc20b4 582 Matrix H(4,nState);
NaotoMorita 22:7d84b8bc20b4 583 for(int i = 1; i<3; i++){
NaotoMorita 22:7d84b8bc20b4 584 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 585 H(i,j) = qeterm(i,j);
NaotoMorita 22:7d84b8bc20b4 586 }
NaotoMorita 22:7d84b8bc20b4 587 }
NaotoMorita 22:7d84b8bc20b4 588 H(1,4) = 1.0f*(dcm(1,1));
NaotoMorita 22:7d84b8bc20b4 589 H(1,5) = 1.0f*(dcm(2,1));
NaotoMorita 22:7d84b8bc20b4 590 H(1,6) = 1.0f*(dcm(3,1));
NaotoMorita 22:7d84b8bc20b4 591 H(2,4) = 1.0f*(dcm(1,2));
NaotoMorita 22:7d84b8bc20b4 592 H(2,5) = 1.0f*(dcm(2,2));
NaotoMorita 22:7d84b8bc20b4 593 H(2,6) = 1.0f*(dcm(3,2));
NaotoMorita 22:7d84b8bc20b4 594
NaotoMorita 22:7d84b8bc20b4 595 Matrix nomVb = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 596 qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 22:7d84b8bc20b4 597 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 598 H(3,j) = -qeterm(1,j);
NaotoMorita 22:7d84b8bc20b4 599 H(4,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 600 //H(3,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 601 H(3,9+j) = -dcm(1,j);
NaotoMorita 22:7d84b8bc20b4 602 H(4,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 603 //H(3,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 604 }
NaotoMorita 22:7d84b8bc20b4 605
NaotoMorita 22:7d84b8bc20b4 606 Matrix R(4,4);
NaotoMorita 22:7d84b8bc20b4 607 R(1,1) = Rgsc(1,1);
NaotoMorita 22:7d84b8bc20b4 608 R(2,2) = Rgsc(2,1);
NaotoMorita 22:7d84b8bc20b4 609 R(3,3) = Rvsc(1,1);
NaotoMorita 22:7d84b8bc20b4 610 R(4,4) = Rvsc(2,1);
NaotoMorita 22:7d84b8bc20b4 611 //R(5,5) = Rvsc(3,1);
NaotoMorita 22:7d84b8bc20b4 612 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 22:7d84b8bc20b4 613 Matrix z(4,1);
NaotoMorita 22:7d84b8bc20b4 614 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 << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 22:7d84b8bc20b4 615 Matrix corrVal = K * (z-H*errState);
NaotoMorita 22:7d84b8bc20b4 616 errState = errState + corrVal;
NaotoMorita 22:7d84b8bc20b4 617 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 22:7d84b8bc20b4 618 }
NaotoMorita 22:7d84b8bc20b4 619
NaotoMorita 22:7d84b8bc20b4 620 void ScErrStateEKF::computeVb(Vector3& vb)
NaotoMorita 22:7d84b8bc20b4 621 {
NaotoMorita 22:7d84b8bc20b4 622 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 623 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 624 Matrix vbmat = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 625 vb.x = vbmat(1,1);
NaotoMorita 22:7d84b8bc20b4 626 vb.y = vbmat(2,1);
NaotoMorita 22:7d84b8bc20b4 627 vb.z = vbmat(3,1);
NaotoMorita 22:7d84b8bc20b4 628
NaotoMorita 22:7d84b8bc20b4 629 }
NaotoMorita 26:73c3f58b9d70 630
NaotoMorita 26:73c3f58b9d70 631 void ScErrStateEKF::updateMagMeasures(Vector3 mag)
NaotoMorita 26:73c3f58b9d70 632 {
NaotoMorita 26:73c3f58b9d70 633 //mag = mag/mag.Norm();
NaotoMorita 26:73c3f58b9d70 634 Matrix dcm(3,3);
NaotoMorita 26:73c3f58b9d70 635 computeDcm(dcm, qhat);
NaotoMorita 26:73c3f58b9d70 636
NaotoMorita 26:73c3f58b9d70 637 Matrix magvec(3,1);
NaotoMorita 26:73c3f58b9d70 638 magvec(1,1) = mag.x;
NaotoMorita 26:73c3f58b9d70 639 magvec(2,1) = mag.y;
NaotoMorita 26:73c3f58b9d70 640 magvec(3,1) = mag.z;
NaotoMorita 26:73c3f58b9d70 641
NaotoMorita 26:73c3f58b9d70 642 Matrix magnedvec = MatrixMath::Transpose(dcm)*magvec;
NaotoMorita 26:73c3f58b9d70 643 Matrix magrefmod(3,1);
NaotoMorita 26:73c3f58b9d70 644 magrefmod(1,1) = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1));
NaotoMorita 26:73c3f58b9d70 645 magrefmod(2,1) = 0.0f;
NaotoMorita 26:73c3f58b9d70 646 magrefmod(3,1) = magnedvec(3,1);
NaotoMorita 26:73c3f58b9d70 647
NaotoMorita 26:73c3f58b9d70 648 Matrix mvec = dcm*magrefmod ;
NaotoMorita 26:73c3f58b9d70 649 Matrix H(3,nState);
NaotoMorita 26:73c3f58b9d70 650 H(1,2) = -2.0f*magvec(3,1);
NaotoMorita 26:73c3f58b9d70 651 H(1,3) = 2.0f*magvec(2,1);
NaotoMorita 26:73c3f58b9d70 652 H(2,1) = 2.0f*magvec(3,1);
NaotoMorita 26:73c3f58b9d70 653 H(2,3) = -2.0f*magvec(1,1);
NaotoMorita 26:73c3f58b9d70 654 H(3,1) = -2.0f*magvec(2,1);
NaotoMorita 26:73c3f58b9d70 655 H(3,2) = 2.0f*magvec(1,1);
NaotoMorita 26:73c3f58b9d70 656 Matrix Pm(nState,nState);
NaotoMorita 26:73c3f58b9d70 657 for(int i = 1; i<4; i++){
NaotoMorita 26:73c3f58b9d70 658 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 659 Pm(i,j) = Phat(i,j);
NaotoMorita 26:73c3f58b9d70 660 }
NaotoMorita 26:73c3f58b9d70 661 }
NaotoMorita 26:73c3f58b9d70 662 Matrix r3(3,1);
NaotoMorita 26:73c3f58b9d70 663 r3 << dcm(1,3)<< dcm(2,3) << dcm(3,3);
NaotoMorita 26:73c3f58b9d70 664 Matrix kpart = r3*MatrixMath::Transpose(r3);
NaotoMorita 26:73c3f58b9d70 665 Matrix Kmod(nState,nState);
NaotoMorita 26:73c3f58b9d70 666 for(int i = 1; i<4; i++){
NaotoMorita 26:73c3f58b9d70 667 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 668 Kmod(i,j) = kpart(i,j);
NaotoMorita 26:73c3f58b9d70 669 }
NaotoMorita 26:73c3f58b9d70 670 }
NaotoMorita 26:73c3f58b9d70 671
NaotoMorita 26:73c3f58b9d70 672 Matrix K = Kmod*(Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rm);
NaotoMorita 26:73c3f58b9d70 673 Matrix z = magvec-mvec;
NaotoMorita 26:73c3f58b9d70 674 errState = errState + K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 675 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rm)*MatrixMath::Transpose(K);
NaotoMorita 26:73c3f58b9d70 676 }
NaotoMorita 26:73c3f58b9d70 677
NaotoMorita 26:73c3f58b9d70 678 void ScErrStateEKF::updateVelocityConstraints()
NaotoMorita 26:73c3f58b9d70 679 {
NaotoMorita 26:73c3f58b9d70 680
NaotoMorita 26:73c3f58b9d70 681 Matrix dcm(3,3);
NaotoMorita 26:73c3f58b9d70 682 computeDcm(dcm, qhat);
NaotoMorita 26:73c3f58b9d70 683 Matrix H(2,nState);
NaotoMorita 26:73c3f58b9d70 684
NaotoMorita 26:73c3f58b9d70 685 Matrix nomVb = dcm*vihat;
NaotoMorita 26:73c3f58b9d70 686 Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 26:73c3f58b9d70 687 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 688 H(1,j) = -qeterm(1,j);
NaotoMorita 26:73c3f58b9d70 689 H(2,j) = -qeterm(3,j);
NaotoMorita 26:73c3f58b9d70 690 //H(3,j) = -qeterm(3,j);
NaotoMorita 26:73c3f58b9d70 691 H(1,9+j) = -dcm(1,j);
NaotoMorita 26:73c3f58b9d70 692 H(2,9+j) = -dcm(3,j);
NaotoMorita 26:73c3f58b9d70 693 //H(3,9+j) = -dcm(3,j);
NaotoMorita 26:73c3f58b9d70 694 }
NaotoMorita 26:73c3f58b9d70 695
NaotoMorita 26:73c3f58b9d70 696 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc);
NaotoMorita 26:73c3f58b9d70 697 Matrix z(2,1);
NaotoMorita 26:73c3f58b9d70 698 z << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 26:73c3f58b9d70 699 Matrix corrVal = K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 700 errState = errState + corrVal;
NaotoMorita 26:73c3f58b9d70 701 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K);
NaotoMorita 26:73c3f58b9d70 702
NaotoMorita 26:73c3f58b9d70 703 }
NaotoMorita 22:7d84b8bc20b4 704 */
NaotoMorita 22:7d84b8bc20b4 705
NaotoMorita 22:7d84b8bc20b4 706