Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.cpp@58:93ba28cf5cb3, 2021-11-12 (annotated)
- Committer:
- NaotoMorita
- Date:
- Fri Nov 12 09:03:10 2021 +0000
- Revision:
- 58:93ba28cf5cb3
- Parent:
- 56:c10f1168bd4a
- Child:
- 59:03fe5e16a33c
gps update
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 | 56:c10f1168bd4a | 6 | :pihat(3,1),vihat(3,1),qhat(4,1),accBias(3,1),gyroBias(3,1),gravity(3,1),magField(3,1),errState(19,1),Phat(19,19),Q(19,19) |
NaotoMorita | 19:3fae66745363 | 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 | 56:c10f1168bd4a | 14 | magField << -0.2f << -0.0f << 0.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 15 | |
NaotoMorita | 58:93ba28cf5cb3 | 16 | nState = errState.getRows(); |
NaotoMorita | 46:15988dc41923 | 17 | |
NaotoMorita | 58:93ba28cf5cb3 | 18 | for (int i = 1; i < nState+1; i++){ |
NaotoMorita | 46:15988dc41923 | 19 | errState(i,1) = 0.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 20 | for (int j = 1; j < nState+1; j++){ |
NaotoMorita | 46:15988dc41923 | 21 | Phat(i,j) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 22 | Q(i,j) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 23 | } |
NaotoMorita | 46:15988dc41923 | 24 | } |
NaotoMorita | 44:7d82e63b6a86 | 25 | |
NaotoMorita | 44:7d82e63b6a86 | 26 | |
NaotoMorita | 58:93ba28cf5cb3 | 27 | |
NaotoMorita | 47:2467de40951f | 28 | |
NaotoMorita | 46:15988dc41923 | 29 | setBlockDiag(Phat,0.1f,1,3);//position |
NaotoMorita | 46:15988dc41923 | 30 | setBlockDiag(Phat,0.1f,4,6);//velocity |
NaotoMorita | 46:15988dc41923 | 31 | setBlockDiag(Phat,0.1f,7,9);//angle error |
NaotoMorita | 47:2467de40951f | 32 | setBlockDiag(Phat,0.1f,10,12);//acc bias |
NaotoMorita | 47:2467de40951f | 33 | setBlockDiag(Phat,0.1f,13,15);//gyro bias |
NaotoMorita | 56:c10f1168bd4a | 34 | setBlockDiag(Phat,0.00000001f,16,18);//gravity |
NaotoMorita | 58:93ba28cf5cb3 | 35 | setBlockDiag(Phat,0.001f,19,19);//H0 |
NaotoMorita | 47:2467de40951f | 36 | setBlockDiag(Q,0.00025f,4,6);//velocity |
NaotoMorita | 55:21611d4cf7e8 | 37 | setBlockDiag(Q,0.005f/57.0f,7,9);//angle error |
NaotoMorita | 46:15988dc41923 | 38 | setBlockDiag(Q,0.001f,10,12);//acc bias |
NaotoMorita | 56:c10f1168bd4a | 39 | setBlockDiag(Q,0.001f,13,15);//gyro bias |
NaotoMorita | 58:93ba28cf5cb3 | 40 | setBlockDiag(Q,0.0001f,19,19);//mag field //positionとgravityはQ項なし |
NaotoMorita | 19:3fae66745363 | 41 | |
NaotoMorita | 19:3fae66745363 | 42 | |
NaotoMorita | 19:3fae66745363 | 43 | } |
NaotoMorita | 19:3fae66745363 | 44 | |
NaotoMorita | 47:2467de40951f | 45 | |
NaotoMorita | 44:7d82e63b6a86 | 46 | void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt) |
NaotoMorita | 19:3fae66745363 | 47 | { |
NaotoMorita | 44:7d82e63b6a86 | 48 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 49 | Matrix accm = acc - accBias; |
NaotoMorita | 44:7d82e63b6a86 | 50 | |
NaotoMorita | 44:7d82e63b6a86 | 51 | Matrix qint(4,1); |
NaotoMorita | 46:15988dc41923 | 52 | 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 | 53 | qhat = quatmultiply(qhat,qint); |
NaotoMorita | 19:3fae66745363 | 54 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 55 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 56 | |
NaotoMorita | 23:1509648c2318 | 57 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 58 | computeDcm(dcm, qhat); |
NaotoMorita | 46:15988dc41923 | 59 | Matrix accned = dcm*accm+gravity; |
NaotoMorita | 44:7d82e63b6a86 | 60 | vihat += accned*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 61 | |
NaotoMorita | 44:7d82e63b6a86 | 62 | pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt; |
NaotoMorita | 19:3fae66745363 | 63 | } |
NaotoMorita | 19:3fae66745363 | 64 | |
NaotoMorita | 44:7d82e63b6a86 | 65 | void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt) |
NaotoMorita | 23:1509648c2318 | 66 | { |
NaotoMorita | 44:7d82e63b6a86 | 67 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 68 | Matrix accm = acc - accBias; |
NaotoMorita | 23:1509648c2318 | 69 | |
NaotoMorita | 23:1509648c2318 | 70 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 71 | computeDcm(dcm, qhat); |
NaotoMorita | 47:2467de40951f | 72 | Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 73 | |
NaotoMorita | 47:2467de40951f | 74 | Matrix A(nState,nState); |
NaotoMorita | 44:7d82e63b6a86 | 75 | //position |
NaotoMorita | 47:2467de40951f | 76 | A(1,4) = 1.0f; |
NaotoMorita | 47:2467de40951f | 77 | A(2,5) = 1.0f; |
NaotoMorita | 47:2467de40951f | 78 | A(3,6) = 1.0f; |
NaotoMorita | 47:2467de40951f | 79 | |
NaotoMorita | 47:2467de40951f | 80 | //velocity |
NaotoMorita | 46:15988dc41923 | 81 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 46:15988dc41923 | 82 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 47:2467de40951f | 83 | A(i+3,j+6) = a2v(i,j); |
NaotoMorita | 47:2467de40951f | 84 | A(i+3,j+9) = -dcm(i,j); |
NaotoMorita | 47:2467de40951f | 85 | |
NaotoMorita | 23:1509648c2318 | 86 | } |
NaotoMorita | 23:1509648c2318 | 87 | } |
NaotoMorita | 47:2467de40951f | 88 | A(4,16) = 1.0f; |
NaotoMorita | 47:2467de40951f | 89 | A(5,17) = 1.0f; |
NaotoMorita | 47:2467de40951f | 90 | A(6,18) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 91 | |
NaotoMorita | 44:7d82e63b6a86 | 92 | //angulat error |
NaotoMorita | 47:2467de40951f | 93 | A(7,8) = gyrom(3,1); |
NaotoMorita | 47:2467de40951f | 94 | A(7,9) = -gyrom(2,1); |
NaotoMorita | 47:2467de40951f | 95 | A(8,7) = -gyrom(3,1); |
NaotoMorita | 47:2467de40951f | 96 | A(8,9) = gyrom(1,1); |
NaotoMorita | 47:2467de40951f | 97 | A(9,7) = gyrom(2,1); |
NaotoMorita | 47:2467de40951f | 98 | A(9,8) = -gyrom(1,1); |
NaotoMorita | 47:2467de40951f | 99 | A(7,13) = -1.0f; |
NaotoMorita | 47:2467de40951f | 100 | A(8,14) = -1.0f; |
NaotoMorita | 47:2467de40951f | 101 | A(9,15) = -1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 102 | |
NaotoMorita | 47:2467de40951f | 103 | |
NaotoMorita | 47:2467de40951f | 104 | Matrix Fx = MatrixMath::Eye(nState) + A * att_dt;// + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 47:2467de40951f | 105 | Matrix Qd = Q * att_dt + 0.5f*A*Q * att_dt * att_dt+ 0.5f*Q*MatrixMath::Transpose(A) * att_dt * att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 106 | |
NaotoMorita | 44:7d82e63b6a86 | 107 | errState = Fx * errState; |
NaotoMorita | 47:2467de40951f | 108 | Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Qd; |
NaotoMorita | 25:07ac5c6cd61c | 109 | } |
NaotoMorita | 25:07ac5c6cd61c | 110 | |
NaotoMorita | 56:c10f1168bd4a | 111 | void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R) |
NaotoMorita | 46:15988dc41923 | 112 | { |
NaotoMorita | 46:15988dc41923 | 113 | Matrix accm = acc - accBias; |
NaotoMorita | 56:c10f1168bd4a | 114 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 115 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 116 | Matrix tdcm = MatrixMath::Transpose(dcm); |
NaotoMorita | 46:15988dc41923 | 117 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 46:15988dc41923 | 118 | Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 119 | Matrix a2v2 = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 46:15988dc41923 | 120 | |
NaotoMorita | 56:c10f1168bd4a | 121 | Matrix H(5,nState); |
NaotoMorita | 56:c10f1168bd4a | 122 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 123 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 46:15988dc41923 | 124 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 46:15988dc41923 | 125 | H(i,j+15) = tdcm(i,j); |
NaotoMorita | 46:15988dc41923 | 126 | } |
NaotoMorita | 56:c10f1168bd4a | 127 | H(4,j+6) = a2v2(1,j); |
NaotoMorita | 56:c10f1168bd4a | 128 | H(5,j+6) = a2v2(2,j); |
NaotoMorita | 46:15988dc41923 | 129 | } |
NaotoMorita | 58:93ba28cf5cb3 | 130 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 58:93ba28cf5cb3 | 131 | |
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 | 56:c10f1168bd4a | 137 | H(4,19) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 138 | |
NaotoMorita | 47:2467de40951f | 139 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 47:2467de40951f | 140 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 47:2467de40951f | 141 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 50:dadad0567349 | 142 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 143 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 56:c10f1168bd4a | 144 | Matrix z(5,1); |
NaotoMorita | 56:c10f1168bd4a | 145 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << zmag(1,1) << zmag(2,1); |
NaotoMorita | 46:15988dc41923 | 146 | errState = K * z; |
NaotoMorita | 50:dadad0567349 | 147 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 47:2467de40951f | 148 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 50:dadad0567349 | 149 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 150 | fuseErr2Nominal(); |
NaotoMorita | 46:15988dc41923 | 151 | } |
NaotoMorita | 46:15988dc41923 | 152 | |
NaotoMorita | 58:93ba28cf5cb3 | 153 | void solaESKF::updateMag(Matrix mag,float palt, Matrix R) |
NaotoMorita | 46:15988dc41923 | 154 | { |
NaotoMorita | 58:93ba28cf5cb3 | 155 | Matrix dcm(3,3); |
NaotoMorita | 58:93ba28cf5cb3 | 156 | computeDcm(dcm, qhat); |
NaotoMorita | 58:93ba28cf5cb3 | 157 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 46:15988dc41923 | 158 | |
NaotoMorita | 58:93ba28cf5cb3 | 159 | Matrix H(3,nState); |
NaotoMorita | 58:93ba28cf5cb3 | 160 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 58:93ba28cf5cb3 | 161 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 58:93ba28cf5cb3 | 162 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 58:93ba28cf5cb3 | 163 | } |
NaotoMorita | 58:93ba28cf5cb3 | 164 | } |
NaotoMorita | 58:93ba28cf5cb3 | 165 | H(1,19) = 1.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 166 | H(3,3) = 1.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 167 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 58:93ba28cf5cb3 | 168 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 58:93ba28cf5cb3 | 169 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 58:93ba28cf5cb3 | 170 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 58:93ba28cf5cb3 | 171 | Matrix z(3,1); |
NaotoMorita | 58:93ba28cf5cb3 | 172 | z << zmag(1,1) << zmag(2,1) << palt - pihat(3,1); |
NaotoMorita | 58:93ba28cf5cb3 | 173 | errState = K * z; |
NaotoMorita | 58:93ba28cf5cb3 | 174 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 58:93ba28cf5cb3 | 175 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 58:93ba28cf5cb3 | 176 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 58:93ba28cf5cb3 | 177 | |
NaotoMorita | 58:93ba28cf5cb3 | 178 | fuseErr2Nominal(); |
NaotoMorita | 58:93ba28cf5cb3 | 179 | } |
NaotoMorita | 58:93ba28cf5cb3 | 180 | |
NaotoMorita | 58:93ba28cf5cb3 | 181 | |
NaotoMorita | 58:93ba28cf5cb3 | 182 | void solaESKF::updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix mag,Matrix R) |
NaotoMorita | 58:93ba28cf5cb3 | 183 | { |
NaotoMorita | 58:93ba28cf5cb3 | 184 | Matrix dcm(3,3); |
NaotoMorita | 58:93ba28cf5cb3 | 185 | computeDcm(dcm, qhat); |
NaotoMorita | 58:93ba28cf5cb3 | 186 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 58:93ba28cf5cb3 | 187 | |
NaotoMorita | 58:93ba28cf5cb3 | 188 | Matrix H(6,nState); |
NaotoMorita | 46:15988dc41923 | 189 | H(1,1) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 190 | H(2,2) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 191 | H(3,3) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 192 | H(4,4) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 193 | H(5,5) = 1.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 194 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 58:93ba28cf5cb3 | 195 | H(6,j+6) = a2v(2,j); |
NaotoMorita | 58:93ba28cf5cb3 | 196 | } |
NaotoMorita | 58:93ba28cf5cb3 | 197 | |
NaotoMorita | 58:93ba28cf5cb3 | 198 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 46:15988dc41923 | 199 | |
NaotoMorita | 53:8b551358a7e3 | 200 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 53:8b551358a7e3 | 201 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 53:8b551358a7e3 | 202 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 58:93ba28cf5cb3 | 203 | Matrix z(6,1); |
NaotoMorita | 58:93ba28cf5cb3 | 204 | 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)<< zmag(2,1); |
NaotoMorita | 58:93ba28cf5cb3 | 205 | errState = K * z; |
NaotoMorita | 58:93ba28cf5cb3 | 206 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 58:93ba28cf5cb3 | 207 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 58:93ba28cf5cb3 | 208 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 58:93ba28cf5cb3 | 209 | fuseErr2Nominal(); |
NaotoMorita | 58:93ba28cf5cb3 | 210 | } |
NaotoMorita | 58:93ba28cf5cb3 | 211 | void solaESKF::updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R) |
NaotoMorita | 58:93ba28cf5cb3 | 212 | { |
NaotoMorita | 58:93ba28cf5cb3 | 213 | |
NaotoMorita | 58:93ba28cf5cb3 | 214 | Matrix dcm(3,3); |
NaotoMorita | 58:93ba28cf5cb3 | 215 | computeDcm(dcm, qhat); |
NaotoMorita | 58:93ba28cf5cb3 | 216 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 58:93ba28cf5cb3 | 217 | |
NaotoMorita | 58:93ba28cf5cb3 | 218 | |
NaotoMorita | 58:93ba28cf5cb3 | 219 | Matrix H(3,nState); |
NaotoMorita | 58:93ba28cf5cb3 | 220 | H(1,4) = 1.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 221 | H(2,5) = 1.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 222 | |
NaotoMorita | 58:93ba28cf5cb3 | 223 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 58:93ba28cf5cb3 | 224 | H(3,j+6) = a2v(2,j); |
NaotoMorita | 58:93ba28cf5cb3 | 225 | } |
NaotoMorita | 58:93ba28cf5cb3 | 226 | //H(3,19) = 1.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 227 | |
NaotoMorita | 58:93ba28cf5cb3 | 228 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 58:93ba28cf5cb3 | 229 | |
NaotoMorita | 58:93ba28cf5cb3 | 230 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 58:93ba28cf5cb3 | 231 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 58:93ba28cf5cb3 | 232 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 58:93ba28cf5cb3 | 233 | Matrix z(3,1); |
NaotoMorita | 58:93ba28cf5cb3 | 234 | z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << zmag(2,1); |
NaotoMorita | 58:93ba28cf5cb3 | 235 | errState = K * z; |
NaotoMorita | 58:93ba28cf5cb3 | 236 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 58:93ba28cf5cb3 | 237 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 58:93ba28cf5cb3 | 238 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 58:93ba28cf5cb3 | 239 | fuseErr2Nominal(); |
NaotoMorita | 58:93ba28cf5cb3 | 240 | } |
NaotoMorita | 58:93ba28cf5cb3 | 241 | |
NaotoMorita | 58:93ba28cf5cb3 | 242 | void solaESKF::updateGPSPosition(Matrix posgps,float palt,Matrix R) |
NaotoMorita | 58:93ba28cf5cb3 | 243 | { |
NaotoMorita | 58:93ba28cf5cb3 | 244 | Matrix H(3,nState); |
NaotoMorita | 58:93ba28cf5cb3 | 245 | H(1,1) = 1.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 246 | H(2,2) = 1.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 247 | H(3,3) = 1.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 248 | |
NaotoMorita | 58:93ba28cf5cb3 | 249 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 58:93ba28cf5cb3 | 250 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 58:93ba28cf5cb3 | 251 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 58:93ba28cf5cb3 | 252 | Matrix z(3,1); |
NaotoMorita | 58:93ba28cf5cb3 | 253 | z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1); |
NaotoMorita | 46:15988dc41923 | 254 | errState = K * z; |
NaotoMorita | 53:8b551358a7e3 | 255 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 46:15988dc41923 | 256 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 53:8b551358a7e3 | 257 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 258 | fuseErr2Nominal(); |
NaotoMorita | 46:15988dc41923 | 259 | } |
NaotoMorita | 46:15988dc41923 | 260 | |
NaotoMorita | 44:7d82e63b6a86 | 261 | Matrix solaESKF::computeAngles() |
NaotoMorita | 25:07ac5c6cd61c | 262 | { |
NaotoMorita | 25:07ac5c6cd61c | 263 | |
NaotoMorita | 44:7d82e63b6a86 | 264 | Matrix euler(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 265 | 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 | 266 | euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1))); |
NaotoMorita | 44:7d82e63b6a86 | 267 | 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 | 268 | return euler; |
NaotoMorita | 19:3fae66745363 | 269 | } |
NaotoMorita | 19:3fae66745363 | 270 | |
NaotoMorita | 21:d6079def0473 | 271 | |
NaotoMorita | 44:7d82e63b6a86 | 272 | void solaESKF::fuseErr2Nominal() |
NaotoMorita | 19:3fae66745363 | 273 | { |
NaotoMorita | 44:7d82e63b6a86 | 274 | //position |
NaotoMorita | 44:7d82e63b6a86 | 275 | pihat(1,1) += errState(1,1); |
NaotoMorita | 44:7d82e63b6a86 | 276 | pihat(2,1) += errState(2,1); |
NaotoMorita | 44:7d82e63b6a86 | 277 | pihat(3,1) += errState(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 278 | |
NaotoMorita | 44:7d82e63b6a86 | 279 | //velocity |
NaotoMorita | 44:7d82e63b6a86 | 280 | vihat(1,1) += errState(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 281 | vihat(2,1) += errState(5,1); |
NaotoMorita | 44:7d82e63b6a86 | 282 | vihat(3,1) += errState(6,1); |
NaotoMorita | 44:7d82e63b6a86 | 283 | |
NaotoMorita | 44:7d82e63b6a86 | 284 | //angle error |
NaotoMorita | 19:3fae66745363 | 285 | Matrix qerr(4,1); |
NaotoMorita | 46:15988dc41923 | 286 | qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1); |
NaotoMorita | 19:3fae66745363 | 287 | qhat = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 288 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 289 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 290 | |
NaotoMorita | 44:7d82e63b6a86 | 291 | //acc bias |
NaotoMorita | 44:7d82e63b6a86 | 292 | accBias(1,1) += errState(10,1); |
NaotoMorita | 44:7d82e63b6a86 | 293 | accBias(2,1) += errState(11,1); |
NaotoMorita | 44:7d82e63b6a86 | 294 | accBias(3,1) += errState(12,1); |
NaotoMorita | 44:7d82e63b6a86 | 295 | |
NaotoMorita | 44:7d82e63b6a86 | 296 | //gyro bias |
NaotoMorita | 44:7d82e63b6a86 | 297 | gyroBias(1,1) += errState(13,1); |
NaotoMorita | 44:7d82e63b6a86 | 298 | gyroBias(2,1) += errState(14,1); |
NaotoMorita | 44:7d82e63b6a86 | 299 | gyroBias(3,1) += errState(15,1); |
NaotoMorita | 44:7d82e63b6a86 | 300 | |
NaotoMorita | 44:7d82e63b6a86 | 301 | //gravity bias |
NaotoMorita | 44:7d82e63b6a86 | 302 | gravity(1,1) += errState(16,1); |
NaotoMorita | 44:7d82e63b6a86 | 303 | gravity(2,1) += errState(17,1); |
NaotoMorita | 44:7d82e63b6a86 | 304 | gravity(3,1) += errState(18,1); |
NaotoMorita | 47:2467de40951f | 305 | |
NaotoMorita | 58:93ba28cf5cb3 | 306 | //Magnetic Field |
NaotoMorita | 58:93ba28cf5cb3 | 307 | magField(1,1) += errState(19,1); |
NaotoMorita | 56:c10f1168bd4a | 308 | magField(2,1) = 0.0f; |
NaotoMorita | 56:c10f1168bd4a | 309 | magField(3,1) = 0.0f; |
NaotoMorita | 56:c10f1168bd4a | 310 | |
NaotoMorita | 58:93ba28cf5cb3 | 311 | for (int i = 1; i < nState+1; i++){ |
NaotoMorita | 47:2467de40951f | 312 | errState(i,1) = 0.0f; |
NaotoMorita | 47:2467de40951f | 313 | } |
NaotoMorita | 44:7d82e63b6a86 | 314 | |
NaotoMorita | 19:3fae66745363 | 315 | } |
NaotoMorita | 19:3fae66745363 | 316 | |
NaotoMorita | 44:7d82e63b6a86 | 317 | Matrix solaESKF::quatmultiply(Matrix p, Matrix q) |
NaotoMorita | 19:3fae66745363 | 318 | { |
NaotoMorita | 44:7d82e63b6a86 | 319 | |
NaotoMorita | 19:3fae66745363 | 320 | Matrix qout(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 321 | 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 | 322 | 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 | 323 | 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 | 324 | 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 | 325 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); |
NaotoMorita | 19:3fae66745363 | 326 | qout *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 327 | return qout; |
NaotoMorita | 19:3fae66745363 | 328 | } |
NaotoMorita | 19:3fae66745363 | 329 | |
NaotoMorita | 44:7d82e63b6a86 | 330 | void solaESKF::computeDcm(Matrix& dcm, Matrix quat) |
NaotoMorita | 19:3fae66745363 | 331 | { |
NaotoMorita | 19:3fae66745363 | 332 | |
NaotoMorita | 44:7d82e63b6a86 | 333 | 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 | 334 | dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 335 | dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 336 | dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 337 | 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 | 338 | dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 339 | dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 340 | dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 341 | 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 | 342 | |
NaotoMorita | 19:3fae66745363 | 343 | } |
NaotoMorita | 19:3fae66745363 | 344 | |
NaotoMorita | 44:7d82e63b6a86 | 345 | void solaESKF::setQhat(float ex,float ey,float ez) |
NaotoMorita | 44:7d82e63b6a86 | 346 | { |
NaotoMorita | 44:7d82e63b6a86 | 347 | float cos_z_2 = cosf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 348 | float cos_y_2 = cosf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 349 | float cos_x_2 = cosf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 350 | |
NaotoMorita | 44:7d82e63b6a86 | 351 | float sin_z_2 = sinf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 352 | float sin_y_2 = sinf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 353 | float sin_x_2 = sinf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 354 | |
NaotoMorita | 19:3fae66745363 | 355 | // and now compute quaternion |
NaotoMorita | 19:3fae66745363 | 356 | qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 357 | qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
NaotoMorita | 19:3fae66745363 | 358 | qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 359 | qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 360 | } |
NaotoMorita | 19:3fae66745363 | 361 | |
NaotoMorita | 47:2467de40951f | 362 | |
NaotoMorita | 47:2467de40951f | 363 | |
NaotoMorita | 44:7d82e63b6a86 | 364 | void solaESKF::setGravity(float gx,float gy,float gz) |
NaotoMorita | 23:1509648c2318 | 365 | { |
NaotoMorita | 44:7d82e63b6a86 | 366 | gravity(1,1) = gx; |
NaotoMorita | 44:7d82e63b6a86 | 367 | gravity(2,1) = gy; |
NaotoMorita | 44:7d82e63b6a86 | 368 | gravity(3,1) = gz; |
NaotoMorita | 23:1509648c2318 | 369 | } |
NaotoMorita | 47:2467de40951f | 370 | Matrix solaESKF::getPihat() |
NaotoMorita | 47:2467de40951f | 371 | { |
NaotoMorita | 47:2467de40951f | 372 | return pihat; |
NaotoMorita | 47:2467de40951f | 373 | } |
NaotoMorita | 47:2467de40951f | 374 | Matrix solaESKF::getVihat() |
NaotoMorita | 47:2467de40951f | 375 | { |
NaotoMorita | 47:2467de40951f | 376 | return vihat; |
NaotoMorita | 47:2467de40951f | 377 | } |
NaotoMorita | 47:2467de40951f | 378 | Matrix solaESKF::getQhat() |
NaotoMorita | 47:2467de40951f | 379 | { |
NaotoMorita | 47:2467de40951f | 380 | return qhat; |
NaotoMorita | 47:2467de40951f | 381 | } |
NaotoMorita | 47:2467de40951f | 382 | Matrix solaESKF::getAccBias() |
NaotoMorita | 47:2467de40951f | 383 | { |
NaotoMorita | 47:2467de40951f | 384 | return accBias; |
NaotoMorita | 47:2467de40951f | 385 | } |
NaotoMorita | 47:2467de40951f | 386 | Matrix solaESKF::getGyroBias() |
NaotoMorita | 47:2467de40951f | 387 | { |
NaotoMorita | 47:2467de40951f | 388 | return gyroBias; |
NaotoMorita | 47:2467de40951f | 389 | } |
NaotoMorita | 47:2467de40951f | 390 | Matrix solaESKF::getGravity() |
NaotoMorita | 47:2467de40951f | 391 | { |
NaotoMorita | 47:2467de40951f | 392 | return gravity; |
NaotoMorita | 47:2467de40951f | 393 | } |
NaotoMorita | 56:c10f1168bd4a | 394 | Matrix solaESKF::getMagField() |
NaotoMorita | 56:c10f1168bd4a | 395 | { |
NaotoMorita | 56:c10f1168bd4a | 396 | return magField; |
NaotoMorita | 56:c10f1168bd4a | 397 | } |
NaotoMorita | 47:2467de40951f | 398 | Matrix solaESKF::getErrState() |
NaotoMorita | 47:2467de40951f | 399 | { |
NaotoMorita | 47:2467de40951f | 400 | return errState; |
NaotoMorita | 47:2467de40951f | 401 | } |
NaotoMorita | 23:1509648c2318 | 402 | |
NaotoMorita | 47:2467de40951f | 403 | void solaESKF::setPhatPosition(float val) |
NaotoMorita | 47:2467de40951f | 404 | { |
NaotoMorita | 47:2467de40951f | 405 | setBlockDiag(Phat,val,1,3); |
NaotoMorita | 47:2467de40951f | 406 | } |
NaotoMorita | 47:2467de40951f | 407 | void solaESKF::setPhatVelocity(float val) |
NaotoMorita | 47:2467de40951f | 408 | { |
NaotoMorita | 47:2467de40951f | 409 | setBlockDiag(Phat,val,4,6); |
NaotoMorita | 47:2467de40951f | 410 | } |
NaotoMorita | 47:2467de40951f | 411 | void solaESKF::setPhatAngleError(float val) |
NaotoMorita | 47:2467de40951f | 412 | { |
NaotoMorita | 47:2467de40951f | 413 | setBlockDiag(Phat,val,7,9); |
NaotoMorita | 47:2467de40951f | 414 | } |
NaotoMorita | 47:2467de40951f | 415 | void solaESKF::setPhatAccBias(float val) |
NaotoMorita | 47:2467de40951f | 416 | { |
NaotoMorita | 47:2467de40951f | 417 | setBlockDiag(Phat,val,10,12); |
NaotoMorita | 47:2467de40951f | 418 | } |
NaotoMorita | 47:2467de40951f | 419 | void solaESKF::setPhatGyroBias(float val) |
NaotoMorita | 47:2467de40951f | 420 | { |
NaotoMorita | 47:2467de40951f | 421 | setBlockDiag(Phat,val,13,15); |
NaotoMorita | 47:2467de40951f | 422 | } |
NaotoMorita | 47:2467de40951f | 423 | void solaESKF::setPhatGravity(float val) |
NaotoMorita | 47:2467de40951f | 424 | { |
NaotoMorita | 47:2467de40951f | 425 | setBlockDiag(Phat,val,16,18); |
NaotoMorita | 47:2467de40951f | 426 | } |
NaotoMorita | 56:c10f1168bd4a | 427 | void solaESKF::setPhatMagField(float val) |
NaotoMorita | 56:c10f1168bd4a | 428 | { |
NaotoMorita | 56:c10f1168bd4a | 429 | setBlockDiag(Phat,val,19,19); |
NaotoMorita | 56:c10f1168bd4a | 430 | } |
NaotoMorita | 47:2467de40951f | 431 | |
NaotoMorita | 47:2467de40951f | 432 | |
NaotoMorita | 47:2467de40951f | 433 | void solaESKF::setQVelocity(float val) |
NaotoMorita | 47:2467de40951f | 434 | { |
NaotoMorita | 47:2467de40951f | 435 | setBlockDiag(Q,val,4,6); |
NaotoMorita | 47:2467de40951f | 436 | } |
NaotoMorita | 47:2467de40951f | 437 | void solaESKF::setQAngleError(float val) |
NaotoMorita | 47:2467de40951f | 438 | { |
NaotoMorita | 47:2467de40951f | 439 | setBlockDiag(Q,val,7,9); |
NaotoMorita | 47:2467de40951f | 440 | } |
NaotoMorita | 47:2467de40951f | 441 | void solaESKF::setQAccBias(float val) |
NaotoMorita | 47:2467de40951f | 442 | { |
NaotoMorita | 47:2467de40951f | 443 | setBlockDiag(Q,val,10,12); |
NaotoMorita | 47:2467de40951f | 444 | } |
NaotoMorita | 47:2467de40951f | 445 | void solaESKF::setQGyroBias(float val) |
NaotoMorita | 47:2467de40951f | 446 | { |
NaotoMorita | 47:2467de40951f | 447 | setBlockDiag(Q,val,13,15); |
NaotoMorita | 47:2467de40951f | 448 | } |
NaotoMorita | 56:c10f1168bd4a | 449 | void solaESKF::setQMagField(float val) |
NaotoMorita | 56:c10f1168bd4a | 450 | { |
NaotoMorita | 56:c10f1168bd4a | 451 | setBlockDiag(Q,val,19,19); |
NaotoMorita | 56:c10f1168bd4a | 452 | } |
NaotoMorita | 19:3fae66745363 | 453 | |
NaotoMorita | 19:3fae66745363 | 454 | |
NaotoMorita | 44:7d82e63b6a86 | 455 | void solaESKF::setDiag(Matrix& mat, float val){ |
NaotoMorita | 44:7d82e63b6a86 | 456 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 457 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 458 | } |
NaotoMorita | 22:7d84b8bc20b4 | 459 | } |
NaotoMorita | 22:7d84b8bc20b4 | 460 | |
NaotoMorita | 45:df4618814803 | 461 | void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){ |
NaotoMorita | 44:7d82e63b6a86 | 462 | for (int i = startIndex; i < endIndex+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 463 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 464 | } |
NaotoMorita | 22:7d84b8bc20b4 | 465 | } |
osaka | 51:a5af3b280d23 | 466 | |
NaotoMorita | 58:93ba28cf5cb3 | 467 | void solaESKF::setPihat(float pi_x, float pi_y) |
osaka | 51:a5af3b280d23 | 468 | { |
NaotoMorita | 56:c10f1168bd4a | 469 | pihat(1,1) = pi_x; |
NaotoMorita | 56:c10f1168bd4a | 470 | pihat(2,1) = pi_y; |
NaotoMorita | 58:93ba28cf5cb3 | 471 | //pihat(3,1) = pi_z; |
NaotoMorita | 56:c10f1168bd4a | 472 | } |
NaotoMorita | 56:c10f1168bd4a | 473 | void solaESKF::setMagField(float hx, float hy, float hz) |
NaotoMorita | 56:c10f1168bd4a | 474 | { |
NaotoMorita | 56:c10f1168bd4a | 475 | magField(1,1) = -sqrt(hx*hx+hy*hy); |
NaotoMorita | 56:c10f1168bd4a | 476 | magField(2,1) = 0.0f; |
NaotoMorita | 56:c10f1168bd4a | 477 | magField(3,1) = 0.0f; |
NaotoMorita | 56:c10f1168bd4a | 478 | } |
NaotoMorita | 56:c10f1168bd4a | 479 | |
NaotoMorita | 56:c10f1168bd4a | 480 | /* |
NaotoMorita | 56:c10f1168bd4a | 481 | void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 482 | { |
NaotoMorita | 56:c10f1168bd4a | 483 | Matrix accm = acc - accBias; |
NaotoMorita | 56:c10f1168bd4a | 484 | Matrix tdcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 485 | computeDcm(tdcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 486 | tdcm = MatrixMath::Transpose(tdcm); |
NaotoMorita | 56:c10f1168bd4a | 487 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 488 | Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 489 | |
NaotoMorita | 56:c10f1168bd4a | 490 | Matrix H(4,nState); |
NaotoMorita | 56:c10f1168bd4a | 491 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 56:c10f1168bd4a | 492 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 493 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 494 | H(i,j+15) = tdcm(i,j); |
NaotoMorita | 56:c10f1168bd4a | 495 | } |
NaotoMorita | 56:c10f1168bd4a | 496 | } |
NaotoMorita | 56:c10f1168bd4a | 497 | H(1,10) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 498 | H(2,11) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 499 | H(3,12) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 500 | H(4,3) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 501 | |
NaotoMorita | 56:c10f1168bd4a | 502 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 503 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 504 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 505 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 506 | Matrix z(4,1); |
NaotoMorita | 56:c10f1168bd4a | 507 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1); |
NaotoMorita | 56:c10f1168bd4a | 508 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 509 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 510 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 511 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 512 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 513 | } |
NaotoMorita | 56:c10f1168bd4a | 514 | |
NaotoMorita | 56:c10f1168bd4a | 515 | void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 516 | { |
NaotoMorita | 56:c10f1168bd4a | 517 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 56:c10f1168bd4a | 518 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 519 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 520 | Matrix a2v = dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 521 | |
NaotoMorita | 56:c10f1168bd4a | 522 | Matrix H(2,nState); |
NaotoMorita | 56:c10f1168bd4a | 523 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 56:c10f1168bd4a | 524 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 525 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 526 | H(i,j+12) = -dcm(i,j); |
NaotoMorita | 56:c10f1168bd4a | 527 | } |
NaotoMorita | 56:c10f1168bd4a | 528 | } |
NaotoMorita | 56:c10f1168bd4a | 529 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 530 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 531 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 532 | |
NaotoMorita | 56:c10f1168bd4a | 533 | Matrix z3 = -dcm*gyrom; |
NaotoMorita | 56:c10f1168bd4a | 534 | Matrix z(2,1); |
NaotoMorita | 56:c10f1168bd4a | 535 | z << z3(1,1) << z3(2,1); |
NaotoMorita | 56:c10f1168bd4a | 536 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 537 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 538 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 539 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 540 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 541 | } |
NaotoMorita | 56:c10f1168bd4a | 542 | void solaESKF::updateMag(Matrix mag, Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 543 | { |
NaotoMorita | 56:c10f1168bd4a | 544 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 545 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 546 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 547 | |
NaotoMorita | 56:c10f1168bd4a | 548 | Matrix H(2,nState); |
NaotoMorita | 56:c10f1168bd4a | 549 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 56:c10f1168bd4a | 550 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 551 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 552 | } |
NaotoMorita | 56:c10f1168bd4a | 553 | } |
NaotoMorita | 56:c10f1168bd4a | 554 | H(1,19) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 555 | //H(3,20) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 556 | |
NaotoMorita | 56:c10f1168bd4a | 557 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 558 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 559 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 560 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 56:c10f1168bd4a | 561 | Matrix z(2,1); |
NaotoMorita | 56:c10f1168bd4a | 562 | z << zmag(1,1) << zmag(2,1); |
NaotoMorita | 56:c10f1168bd4a | 563 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 564 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 565 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 566 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 567 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 568 | } |
NaotoMorita | 56:c10f1168bd4a | 569 | |
NaotoMorita | 56:c10f1168bd4a | 570 | |
NaotoMorita | 56:c10f1168bd4a | 571 | */ |