Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
ScErrStateEKF.cpp@42:b90c348a49c0, 2021-10-21 (annotated)
- Committer:
- osaka
- Date:
- Thu Oct 21 06:40:38 2021 +0000
- Revision:
- 42:b90c348a49c0
- Parent:
- 40:119792aa6d3b
newer
Who changed what in which revision?
User | Revision | Line number | New 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 | 42:b90c348a49c0 | 11 | :qhat(4,1),vihat(3,1), errState(9,1), Phat(9,9), Q(9,9), 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; |
osaka | 40:119792aa6d3b | 15 | vihat << 0.0f << 0.0f << 0.0f; |
osaka | 40:119792aa6d3b | 16 | for (int i = 1; i <= nState; i++) |
osaka | 40:119792aa6d3b | 17 | { |
osaka | 40:119792aa6d3b | 18 | errState(i, 1) = 0.0f; |
osaka | 40:119792aa6d3b | 19 | } |
NaotoMorita | 19:3fae66745363 | 20 | |
osaka | 39:6834e05d8a64 | 21 | setDiag(Phat,0.1f); |
osaka | 39:6834e05d8a64 | 22 | Phat(4,4) = 0.001; |
osaka | 39:6834e05d8a64 | 23 | Phat(5,5) = 0.001; |
osaka | 39:6834e05d8a64 | 24 | Phat(6,6) = 0.001; |
osaka | 39:6834e05d8a64 | 25 | setQqerr(0.001f); |
osaka | 39:6834e05d8a64 | 26 | setQgbias(0.0001f); |
osaka | 39:6834e05d8a64 | 27 | setQv(0.01f); |
NaotoMorita | 19:3fae66745363 | 28 | |
NaotoMorita | 20:37d3c3ee36e9 | 29 | //加速度の観測 |
osaka | 39:6834e05d8a64 | 30 | setDiag(Ra,0.1f); |
osaka | 39:6834e05d8a64 | 31 | setDiag(Qab,1.5f); |
NaotoMorita | 20:37d3c3ee36e9 | 32 | |
NaotoMorita | 20:37d3c3ee36e9 | 33 | //ジャイロバイアスに関する制約 |
osaka | 39:6834e05d8a64 | 34 | setDiag(Rgsc,500.0f); |
NaotoMorita | 20:37d3c3ee36e9 | 35 | |
NaotoMorita | 34:dec4b37db3f1 | 36 | //地磁気(未使用) |
NaotoMorita | 21:d6079def0473 | 37 | setDiag(Rm,5.0f); |
NaotoMorita | 19:3fae66745363 | 38 | |
NaotoMorita | 34:dec4b37db3f1 | 39 | //GPS |
osaka | 39:6834e05d8a64 | 40 | setDiag(Rgps,0.001f); |
NaotoMorita | 34:dec4b37db3f1 | 41 | //降下速度 |
osaka | 39:6834e05d8a64 | 42 | setDiag(Rsr,0.001f); |
NaotoMorita | 26:73c3f58b9d70 | 43 | |
NaotoMorita | 19:3fae66745363 | 44 | for(int i = 0; i<10;i++){ |
NaotoMorita | 19:3fae66745363 | 45 | histffunc[i] = 0.0f; |
NaotoMorita | 19:3fae66745363 | 46 | } |
NaotoMorita | 19:3fae66745363 | 47 | histffuncindex = 0 ; |
NaotoMorita | 19:3fae66745363 | 48 | sigma2a = 0.000020f; |
NaotoMorita | 19:3fae66745363 | 49 | |
NaotoMorita | 19:3fae66745363 | 50 | |
NaotoMorita | 19:3fae66745363 | 51 | } |
NaotoMorita | 19:3fae66745363 | 52 | |
NaotoMorita | 23:1509648c2318 | 53 | void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt) |
NaotoMorita | 19:3fae66745363 | 54 | { |
NaotoMorita | 19:3fae66745363 | 55 | gyro -= gyroBias; |
osaka | 42:b90c348a49c0 | 56 | //acc -= accBias; |
NaotoMorita | 19:3fae66745363 | 57 | Matrix A(4,4); |
NaotoMorita | 19:3fae66745363 | 58 | A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z |
NaotoMorita | 19:3fae66745363 | 59 | << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y |
NaotoMorita | 19:3fae66745363 | 60 | << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x |
NaotoMorita | 19:3fae66745363 | 61 | << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ; |
NaotoMorita | 19:3fae66745363 | 62 | |
NaotoMorita | 20:37d3c3ee36e9 | 63 | Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 19:3fae66745363 | 64 | qhat = phi * qhat; |
NaotoMorita | 19:3fae66745363 | 65 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 66 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 67 | |
NaotoMorita | 23:1509648c2318 | 68 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 69 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 70 | vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f; |
NaotoMorita | 19:3fae66745363 | 71 | } |
NaotoMorita | 19:3fae66745363 | 72 | |
NaotoMorita | 23:1509648c2318 | 73 | void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt) |
NaotoMorita | 23:1509648c2318 | 74 | { |
NaotoMorita | 23:1509648c2318 | 75 | gyro -= gyroBias; |
osaka | 42:b90c348a49c0 | 76 | //acc -= accBias; |
NaotoMorita | 23:1509648c2318 | 77 | Matrix A(nState,nState); |
NaotoMorita | 23:1509648c2318 | 78 | A(1,2) = gyro.z; |
NaotoMorita | 23:1509648c2318 | 79 | A(1,3) = -gyro.y; |
NaotoMorita | 23:1509648c2318 | 80 | A(2,1) = -gyro.z; |
NaotoMorita | 23:1509648c2318 | 81 | A(2,3) = gyro.x; |
NaotoMorita | 23:1509648c2318 | 82 | A(3,1) = gyro.y; |
NaotoMorita | 23:1509648c2318 | 83 | A(3,2) = -gyro.x; |
osaka | 38:1f6532849c05 | 84 | A(1,4) = -0.5f; |
osaka | 38:1f6532849c05 | 85 | A(2,5) = -0.5f; |
osaka | 38:1f6532849c05 | 86 | A(3,6) = -0.5f; |
NaotoMorita | 23:1509648c2318 | 87 | |
NaotoMorita | 23:1509648c2318 | 88 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 89 | computeDcm(dcm, qhat); |
osaka | 42:b90c348a49c0 | 90 | Matrix qeterm = 2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z); |
osaka | 42:b90c348a49c0 | 91 | //Matrix baterm = 9.8f*MatrixMath::Transpose(dcm); |
NaotoMorita | 23:1509648c2318 | 92 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 23:1509648c2318 | 93 | for (int j = 1; i < 4; i++){ |
osaka | 42:b90c348a49c0 | 94 | A(i+6,j) = qeterm(i,j); |
osaka | 42:b90c348a49c0 | 95 | //A(i+9,j+6) = baterm(i,j); |
NaotoMorita | 23:1509648c2318 | 96 | } |
NaotoMorita | 23:1509648c2318 | 97 | } |
NaotoMorita | 23:1509648c2318 | 98 | |
NaotoMorita | 23:1509648c2318 | 99 | Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 23:1509648c2318 | 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 | 23:1509648c2318 | 101 | errState = phi * errState; |
NaotoMorita | 23:1509648c2318 | 102 | Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd; |
NaotoMorita | 23:1509648c2318 | 103 | } |
NaotoMorita | 20:37d3c3ee36e9 | 104 | void ScErrStateEKF::setQqerr(float val){ |
NaotoMorita | 20:37d3c3ee36e9 | 105 | Q(1,1) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 106 | Q(2,2) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 107 | Q(3,3) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 108 | } |
NaotoMorita | 20:37d3c3ee36e9 | 109 | |
NaotoMorita | 20:37d3c3ee36e9 | 110 | void ScErrStateEKF::setQgbias(float val){ |
NaotoMorita | 20:37d3c3ee36e9 | 111 | Q(4,4) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 112 | Q(5,5) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 113 | Q(6,6) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 114 | } |
osaka | 42:b90c348a49c0 | 115 | |
osaka | 42:b90c348a49c0 | 116 | void ScErrStateEKF::setQv(float val){ |
NaotoMorita | 20:37d3c3ee36e9 | 117 | Q(7,7) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 118 | Q(8,8) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 119 | Q(9,9) = val; |
NaotoMorita | 20:37d3c3ee36e9 | 120 | } |
NaotoMorita | 21:d6079def0473 | 121 | |
NaotoMorita | 20:37d3c3ee36e9 | 122 | void ScErrStateEKF::setQab(float val){ |
NaotoMorita | 21:d6079def0473 | 123 | setDiag(Qab,val); |
NaotoMorita | 20:37d3c3ee36e9 | 124 | } |
NaotoMorita | 20:37d3c3ee36e9 | 125 | |
NaotoMorita | 23:1509648c2318 | 126 | |
NaotoMorita | 20:37d3c3ee36e9 | 127 | void ScErrStateEKF::setRsoftconst(float Vgsc,float Vvsc){ |
NaotoMorita | 21:d6079def0473 | 128 | setDiag(Rgsc,Vgsc); |
NaotoMorita | 23:1509648c2318 | 129 | setDiag(Rvsc,Vvsc); |
NaotoMorita | 20:37d3c3ee36e9 | 130 | } |
NaotoMorita | 20:37d3c3ee36e9 | 131 | |
NaotoMorita | 21:d6079def0473 | 132 | void ScErrStateEKF::setDiag(Matrix& mat, float val){ |
NaotoMorita | 21:d6079def0473 | 133 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 21:d6079def0473 | 134 | mat(i,i) = val; |
NaotoMorita | 21:d6079def0473 | 135 | } |
NaotoMorita | 21:d6079def0473 | 136 | } |
NaotoMorita | 20:37d3c3ee36e9 | 137 | |
NaotoMorita | 25:07ac5c6cd61c | 138 | void ScErrStateEKF::getQhat(float (&res)[4]){ |
NaotoMorita | 25:07ac5c6cd61c | 139 | for (int i = 0; i < 4; i++){ |
NaotoMorita | 25:07ac5c6cd61c | 140 | res[i] = qhat(i+1,1); |
NaotoMorita | 25:07ac5c6cd61c | 141 | } |
NaotoMorita | 25:07ac5c6cd61c | 142 | } |
NaotoMorita | 25:07ac5c6cd61c | 143 | |
NaotoMorita | 25:07ac5c6cd61c | 144 | void ScErrStateEKF::getVihat(float (&res)[3]){ |
NaotoMorita | 25:07ac5c6cd61c | 145 | for (int i = 0; i < 3; i++){ |
NaotoMorita | 25:07ac5c6cd61c | 146 | res[i] = vihat(i+1,1); |
NaotoMorita | 25:07ac5c6cd61c | 147 | } |
NaotoMorita | 25:07ac5c6cd61c | 148 | } |
NaotoMorita | 25:07ac5c6cd61c | 149 | |
NaotoMorita | 25:07ac5c6cd61c | 150 | void ScErrStateEKF::getGyroBias(float (&resVal)[3], float (&resCov)[6]){ |
NaotoMorita | 25:07ac5c6cd61c | 151 | resVal[0] = gyroBias.x; |
NaotoMorita | 25:07ac5c6cd61c | 152 | resVal[1] = gyroBias.y; |
NaotoMorita | 25:07ac5c6cd61c | 153 | resVal[2] = gyroBias.z; |
osaka | 38:1f6532849c05 | 154 | resCov[0] = Phat(4,4); |
osaka | 38:1f6532849c05 | 155 | resCov[1] = Phat(4,5); |
osaka | 38:1f6532849c05 | 156 | resCov[2] = Phat(4,6); |
osaka | 38:1f6532849c05 | 157 | resCov[3] = Phat(5,5); |
osaka | 38:1f6532849c05 | 158 | resCov[4] = Phat(5,6); |
osaka | 38:1f6532849c05 | 159 | resCov[5] = Phat(6,6); |
NaotoMorita | 25:07ac5c6cd61c | 160 | |
NaotoMorita | 25:07ac5c6cd61c | 161 | } |
NaotoMorita | 25:07ac5c6cd61c | 162 | |
NaotoMorita | 19:3fae66745363 | 163 | void ScErrStateEKF::updateAccMeasures(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 164 | { |
NaotoMorita | 20:37d3c3ee36e9 | 165 | Matrix dcm(3,3); |
NaotoMorita | 20:37d3c3ee36e9 | 166 | computeDcm(dcm, qhat); |
NaotoMorita | 20:37d3c3ee36e9 | 167 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 21:d6079def0473 | 168 | Matrix H(3,nState); |
NaotoMorita | 20:37d3c3ee36e9 | 169 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 20:37d3c3ee36e9 | 170 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 20:37d3c3ee36e9 | 171 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 20:37d3c3ee36e9 | 172 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 20:37d3c3ee36e9 | 173 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 20:37d3c3ee36e9 | 174 | H(3,2) = 2.0f*gvec.x; |
NaotoMorita | 20:37d3c3ee36e9 | 175 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra+Qab); |
NaotoMorita | 21:d6079def0473 | 176 | Matrix z = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref); |
NaotoMorita | 20:37d3c3ee36e9 | 177 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 20:37d3c3ee36e9 | 178 | errState = errState + corrVal; |
NaotoMorita | 21:d6079def0473 | 179 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra+Qab)*MatrixMath::Transpose(K); |
NaotoMorita | 20:37d3c3ee36e9 | 180 | } |
NaotoMorita | 20:37d3c3ee36e9 | 181 | |
NaotoMorita | 20:37d3c3ee36e9 | 182 | void ScErrStateEKF::updateGyroBiasConstraints(Vector3 gyro) |
NaotoMorita | 20:37d3c3ee36e9 | 183 | { |
NaotoMorita | 21:d6079def0473 | 184 | gyro -= gyroBias; |
NaotoMorita | 23:1509648c2318 | 185 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 186 | computeDcm(dcm, qhat); |
osaka | 38:1f6532849c05 | 187 | Matrix H(2,nState); |
osaka | 38:1f6532849c05 | 188 | H(1,4) = 1.0f*(dcm(1,1)); |
osaka | 38:1f6532849c05 | 189 | H(1,5) = 1.0f*(dcm(2,1)); |
osaka | 38:1f6532849c05 | 190 | H(1,6) = 1.0f*(dcm(3,1)); |
osaka | 38:1f6532849c05 | 191 | H(2,4) = 1.0f*(dcm(1,2)); |
osaka | 38:1f6532849c05 | 192 | H(2,5) = 1.0f*(dcm(2,2)); |
osaka | 38:1f6532849c05 | 193 | H(2,6) = 1.0f*(dcm(3,2)); |
NaotoMorita | 23:1509648c2318 | 194 | |
osaka | 38:1f6532849c05 | 195 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rgsc); |
NaotoMorita | 31:e655d4d8e4d6 | 196 | Matrix z(2,1); |
NaotoMorita | 31:e655d4d8e4d6 | 197 | 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 | 198 | Matrix corrVal = K * (z-H*errState); |
osaka | 38:1f6532849c05 | 199 | errState = errState + corrVal; |
osaka | 38:1f6532849c05 | 200 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgsc)*MatrixMath::Transpose(K); |
NaotoMorita | 23:1509648c2318 | 201 | } |
NaotoMorita | 23:1509648c2318 | 202 | |
NaotoMorita | 23:1509648c2318 | 203 | |
NaotoMorita | 19:3fae66745363 | 204 | void ScErrStateEKF::updateStaticAccMeasures(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 205 | { |
NaotoMorita | 19:3fae66745363 | 206 | Matrix dcm(3,3); |
NaotoMorita | 19:3fae66745363 | 207 | computeDcm(dcm, qhat); |
NaotoMorita | 19:3fae66745363 | 208 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 21:d6079def0473 | 209 | Matrix H(3,nState); |
NaotoMorita | 19:3fae66745363 | 210 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 19:3fae66745363 | 211 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 19:3fae66745363 | 212 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 19:3fae66745363 | 213 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 19:3fae66745363 | 214 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 19:3fae66745363 | 215 | H(3,2) = 2.0f*gvec.x; |
NaotoMorita | 19:3fae66745363 | 216 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra*100.0f); |
NaotoMorita | 19:3fae66745363 | 217 | Matrix accmat(3,1); |
NaotoMorita | 19:3fae66745363 | 218 | accmat << acc.x << acc.y << acc.z; |
NaotoMorita | 19:3fae66745363 | 219 | Matrix gref(3,1); |
NaotoMorita | 19:3fae66745363 | 220 | gref << 0.0f << 0.0f << accref.z; |
NaotoMorita | 19:3fae66745363 | 221 | Matrix z = accmat-dcm*gref; |
NaotoMorita | 19:3fae66745363 | 222 | errState = errState + K * (z-H*errState); |
NaotoMorita | 21:d6079def0473 | 223 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra*100.0f)*MatrixMath::Transpose(K); |
NaotoMorita | 19:3fae66745363 | 224 | } |
NaotoMorita | 19:3fae66745363 | 225 | |
NaotoMorita | 32:321a756e12ad | 226 | void ScErrStateEKF::updateGPSVelocity(float vi_x, float vi_y, float sinkRate,Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 227 | { |
NaotoMorita | 31:e655d4d8e4d6 | 228 | Matrix dcm(3,3); |
NaotoMorita | 31:e655d4d8e4d6 | 229 | computeDcm(dcm, qhat); |
NaotoMorita | 31:e655d4d8e4d6 | 230 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
osaka | 40:119792aa6d3b | 231 | |
NaotoMorita | 32:321a756e12ad | 232 | Matrix H(6,nState); |
NaotoMorita | 31:e655d4d8e4d6 | 233 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 31:e655d4d8e4d6 | 234 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 31:e655d4d8e4d6 | 235 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 31:e655d4d8e4d6 | 236 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 31:e655d4d8e4d6 | 237 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 31:e655d4d8e4d6 | 238 | H(3,2) = 2.0f*gvec.x; |
osaka | 42:b90c348a49c0 | 239 | H(4,7) = 1.0f; |
osaka | 42:b90c348a49c0 | 240 | H(5,8) = 1.0f; |
osaka | 42:b90c348a49c0 | 241 | H(6,9) = 1.0f; |
NaotoMorita | 31:e655d4d8e4d6 | 242 | |
NaotoMorita | 32:321a756e12ad | 243 | Matrix R(6,6); |
NaotoMorita | 31:e655d4d8e4d6 | 244 | R(1,1) = Ra(1,1)+Qab(1,1); |
NaotoMorita | 31:e655d4d8e4d6 | 245 | R(2,2) = Ra(2,2)+Qab(2,2); |
NaotoMorita | 31:e655d4d8e4d6 | 246 | R(3,3) = Ra(3,3)+Qab(3,3); |
NaotoMorita | 31:e655d4d8e4d6 | 247 | R(4,4) = Rgps(1,1); |
NaotoMorita | 31:e655d4d8e4d6 | 248 | R(5,5) = Rgps(2,2); |
NaotoMorita | 32:321a756e12ad | 249 | R(6,6) = Rsr(1,1); |
NaotoMorita | 31:e655d4d8e4d6 | 250 | |
NaotoMorita | 31:e655d4d8e4d6 | 251 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 31:e655d4d8e4d6 | 252 | Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref); |
NaotoMorita | 32:321a756e12ad | 253 | Matrix z(6,1); |
osaka | 42:b90c348a49c0 | 254 | z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << vi_x - vihat(1,1) << vi_y-vihat(2,1) << -sinkRate - vihat(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 255 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 256 | errState = errState + corrVal; |
NaotoMorita | 31:e655d4d8e4d6 | 257 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 19:3fae66745363 | 258 | } |
NaotoMorita | 19:3fae66745363 | 259 | |
NaotoMorita | 31:e655d4d8e4d6 | 260 | void ScErrStateEKF::updateSinkRate(float sinkRate,Vector3 acc, Vector3 accref) |
NaotoMorita | 30:ff884e9b2e30 | 261 | { |
NaotoMorita | 31:e655d4d8e4d6 | 262 | Matrix dcm(3,3); |
NaotoMorita | 31:e655d4d8e4d6 | 263 | computeDcm(dcm, qhat); |
NaotoMorita | 31:e655d4d8e4d6 | 264 | Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z); |
NaotoMorita | 31:e655d4d8e4d6 | 265 | Matrix H(4,nState); |
NaotoMorita | 31:e655d4d8e4d6 | 266 | H(1,2) = -2.0f*gvec.z; |
NaotoMorita | 31:e655d4d8e4d6 | 267 | H(1,3) = 2.0f*gvec.y; |
NaotoMorita | 31:e655d4d8e4d6 | 268 | H(2,1) = 2.0f*gvec.z; |
NaotoMorita | 31:e655d4d8e4d6 | 269 | H(2,3) = -2.0f*gvec.x; |
NaotoMorita | 31:e655d4d8e4d6 | 270 | H(3,1) = -2.0f*gvec.y; |
NaotoMorita | 31:e655d4d8e4d6 | 271 | H(3,2) = 2.0f*gvec.x; |
osaka | 42:b90c348a49c0 | 272 | H(4,9) = 1.0f; |
NaotoMorita | 31:e655d4d8e4d6 | 273 | |
NaotoMorita | 31:e655d4d8e4d6 | 274 | Matrix R(4,4); |
NaotoMorita | 31:e655d4d8e4d6 | 275 | R(1,1) = Ra(1,1)+Qab(1,1); |
NaotoMorita | 31:e655d4d8e4d6 | 276 | R(2,2) = Ra(2,2)+Qab(2,2); |
NaotoMorita | 31:e655d4d8e4d6 | 277 | R(3,3) = Ra(3,3)+Qab(3,3); |
NaotoMorita | 31:e655d4d8e4d6 | 278 | R(4,4) = Rsr(1,1); |
osaka | 40:119792aa6d3b | 279 | /* |
osaka | 40:119792aa6d3b | 280 | R(1,1) = 0.0001f; |
osaka | 40:119792aa6d3b | 281 | R(2,2) = 0.0001f; |
osaka | 40:119792aa6d3b | 282 | R(3,3) = 0.0001f; |
osaka | 40:119792aa6d3b | 283 | */ |
NaotoMorita | 31:e655d4d8e4d6 | 284 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 31:e655d4d8e4d6 | 285 | Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref); |
NaotoMorita | 31:e655d4d8e4d6 | 286 | Matrix z(4,1); |
NaotoMorita | 31:e655d4d8e4d6 | 287 | z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << sinkRate - vihat(3,1); |
NaotoMorita | 30:ff884e9b2e30 | 288 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 30:ff884e9b2e30 | 289 | errState = errState + corrVal; |
NaotoMorita | 31:e655d4d8e4d6 | 290 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 30:ff884e9b2e30 | 291 | } |
NaotoMorita | 30:ff884e9b2e30 | 292 | |
NaotoMorita | 25:07ac5c6cd61c | 293 | void ScErrStateEKF::updateCenteredGyroBiasCorrection(float (&cBg)[3]) |
NaotoMorita | 25:07ac5c6cd61c | 294 | { |
NaotoMorita | 25:07ac5c6cd61c | 295 | |
NaotoMorita | 25:07ac5c6cd61c | 296 | Matrix RgyroBias(3,3); |
NaotoMorita | 25:07ac5c6cd61c | 297 | for(int i = 1;i<4;i++){ |
NaotoMorita | 25:07ac5c6cd61c | 298 | RgyroBias(i,i) = 0.1f; |
NaotoMorita | 25:07ac5c6cd61c | 299 | } |
NaotoMorita | 25:07ac5c6cd61c | 300 | |
osaka | 38:1f6532849c05 | 301 | Matrix H(3,nState); |
osaka | 38:1f6532849c05 | 302 | H(1,4) = 1.0f; |
osaka | 38:1f6532849c05 | 303 | H(2,5) = 1.0f; |
osaka | 38:1f6532849c05 | 304 | H(3,6) = 1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 305 | |
osaka | 38:1f6532849c05 | 306 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RgyroBias); |
NaotoMorita | 25:07ac5c6cd61c | 307 | Matrix z(3,1); |
NaotoMorita | 25:07ac5c6cd61c | 308 | z <<cBg[0]-gyroBias.x <<cBg[1]-gyroBias.y <<cBg[2]-gyroBias.z; |
osaka | 38:1f6532849c05 | 309 | Matrix corrVal = K * (z-H*errState); |
osaka | 38:1f6532849c05 | 310 | errState = errState + corrVal; |
osaka | 38:1f6532849c05 | 311 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RgyroBias)*MatrixMath::Transpose(K); |
NaotoMorita | 25:07ac5c6cd61c | 312 | |
NaotoMorita | 25:07ac5c6cd61c | 313 | } |
NaotoMorita | 25:07ac5c6cd61c | 314 | |
NaotoMorita | 19:3fae66745363 | 315 | void ScErrStateEKF::resetBias() |
NaotoMorita | 19:3fae66745363 | 316 | { |
osaka | 38:1f6532849c05 | 317 | gyroBias.x = gyroBias.x + errState(4,1)*1.0f; |
osaka | 38:1f6532849c05 | 318 | gyroBias.y = gyroBias.y + errState(5,1)*1.0f; |
osaka | 38:1f6532849c05 | 319 | gyroBias.z = gyroBias.z + errState(6,1)*1.0f; |
NaotoMorita | 19:3fae66745363 | 320 | errState(4,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 321 | errState(5,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 322 | errState(6,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 323 | } |
NaotoMorita | 19:3fae66745363 | 324 | |
NaotoMorita | 19:3fae66745363 | 325 | void ScErrStateEKF::computeAngles(Vector3& rpy,Vector3 rpy_align) |
NaotoMorita | 19:3fae66745363 | 326 | { |
NaotoMorita | 19:3fae66745363 | 327 | Matrix qerr(4,1); |
NaotoMorita | 19:3fae66745363 | 328 | qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1); |
NaotoMorita | 19:3fae66745363 | 329 | //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr)); |
NaotoMorita | 19:3fae66745363 | 330 | //qerr *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 331 | Matrix qest = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 332 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qest),qest)); |
NaotoMorita | 19:3fae66745363 | 333 | qest *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 334 | float q0 = qest( 1, 1 ); |
NaotoMorita | 19:3fae66745363 | 335 | float q1 = qest( 2, 1 ); |
NaotoMorita | 19:3fae66745363 | 336 | float q2 = qest( 3, 1 ); |
NaotoMorita | 19:3fae66745363 | 337 | float q3 = qest( 4, 1 ); |
NaotoMorita | 19:3fae66745363 | 338 | rpy.x = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-rpy_align.x; |
NaotoMorita | 19:3fae66745363 | 339 | rpy.y = asinf(-2.0f * (q1*q3 - q0*q2))-rpy_align.y; |
NaotoMorita | 19:3fae66745363 | 340 | rpy.z = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3); |
NaotoMorita | 19:3fae66745363 | 341 | |
NaotoMorita | 19:3fae66745363 | 342 | } |
NaotoMorita | 19:3fae66745363 | 343 | |
NaotoMorita | 21:d6079def0473 | 344 | |
NaotoMorita | 21:d6079def0473 | 345 | void ScErrStateEKF::fuseErr2Nominal() |
NaotoMorita | 19:3fae66745363 | 346 | { |
NaotoMorita | 19:3fae66745363 | 347 | Matrix qerr(4,1); |
NaotoMorita | 19:3fae66745363 | 348 | qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1); |
NaotoMorita | 19:3fae66745363 | 349 | //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr)); |
NaotoMorita | 19:3fae66745363 | 350 | //qerr *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 351 | qhat = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 352 | errState(1,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 353 | errState(2,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 354 | errState(3,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 355 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 356 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 357 | |
osaka | 42:b90c348a49c0 | 358 | vihat(1,1) += errState(7,1); |
osaka | 42:b90c348a49c0 | 359 | vihat(2,1) += errState(8,1); |
osaka | 42:b90c348a49c0 | 360 | vihat(3,1) += errState(9,1); |
osaka | 42:b90c348a49c0 | 361 | errState(7,1) = 0.0f; |
osaka | 42:b90c348a49c0 | 362 | errState(8,1) = 0.0f; |
osaka | 42:b90c348a49c0 | 363 | errState(9,1) = 0.0f; |
NaotoMorita | 19:3fae66745363 | 364 | } |
NaotoMorita | 19:3fae66745363 | 365 | |
NaotoMorita | 19:3fae66745363 | 366 | Matrix ScErrStateEKF::quatmultiply(Matrix q, Matrix r) |
NaotoMorita | 19:3fae66745363 | 367 | { |
NaotoMorita | 19:3fae66745363 | 368 | Matrix qout(4,1); |
NaotoMorita | 19:3fae66745363 | 369 | 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 | 370 | 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 | 371 | 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 | 372 | 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 | 373 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); |
NaotoMorita | 19:3fae66745363 | 374 | qout *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 375 | return qout; |
NaotoMorita | 19:3fae66745363 | 376 | } |
NaotoMorita | 19:3fae66745363 | 377 | |
NaotoMorita | 19:3fae66745363 | 378 | void ScErrStateEKF::computeDcm(Matrix& dcm, Matrix quat) |
NaotoMorita | 19:3fae66745363 | 379 | { |
NaotoMorita | 19:3fae66745363 | 380 | |
NaotoMorita | 19:3fae66745363 | 381 | float q0 = quat( 1, 1 ); |
NaotoMorita | 19:3fae66745363 | 382 | float q1 = quat( 2, 1 ); |
NaotoMorita | 19:3fae66745363 | 383 | float q2 = quat( 3, 1 ); |
NaotoMorita | 19:3fae66745363 | 384 | float q3 = quat( 4, 1 ); |
NaotoMorita | 19:3fae66745363 | 385 | |
NaotoMorita | 19:3fae66745363 | 386 | dcm(1,1) = q0*q0 + q1*q1 - q2*q2 - q3*q3; |
NaotoMorita | 19:3fae66745363 | 387 | dcm(1,2) = 2*(q1*q2 + q0*q3); |
NaotoMorita | 19:3fae66745363 | 388 | dcm(1,3) = 2*(q1*q3 - q0*q2); |
NaotoMorita | 19:3fae66745363 | 389 | dcm(2,1) = 2*(q1*q2 - q0*q3); |
NaotoMorita | 19:3fae66745363 | 390 | dcm(2,2) = q0*q0 - q1*q1 + q2*q2 - q3*q3; |
NaotoMorita | 19:3fae66745363 | 391 | dcm(2,3) = 2*(q2*q3 + q0*q1); |
NaotoMorita | 19:3fae66745363 | 392 | dcm(3,1) = 2*(q1*q3 + q0*q2); |
NaotoMorita | 19:3fae66745363 | 393 | dcm(3,2) = 2*(q2*q3 - q0*q1); |
NaotoMorita | 19:3fae66745363 | 394 | dcm(3,3) = q0*q0 - q1*q1 - q2*q2 + q3*q3; |
NaotoMorita | 19:3fae66745363 | 395 | |
NaotoMorita | 19:3fae66745363 | 396 | } |
NaotoMorita | 19:3fae66745363 | 397 | |
NaotoMorita | 19:3fae66745363 | 398 | void ScErrStateEKF::defineQhat(Vector3 align){ |
NaotoMorita | 19:3fae66745363 | 399 | float cos_z_2 = cosf(0.5f*align.z); |
NaotoMorita | 19:3fae66745363 | 400 | float cos_y_2 = cosf(0.5f*align.y); |
NaotoMorita | 19:3fae66745363 | 401 | float cos_x_2 = cosf(0.5f*align.x); |
NaotoMorita | 19:3fae66745363 | 402 | |
NaotoMorita | 19:3fae66745363 | 403 | float sin_z_2 = sinf(0.5f*align.z); |
NaotoMorita | 19:3fae66745363 | 404 | float sin_y_2 = sinf(0.5f*align.y); |
NaotoMorita | 19:3fae66745363 | 405 | float sin_x_2 = sinf(0.5f*align.x); |
NaotoMorita | 19:3fae66745363 | 406 | |
NaotoMorita | 19:3fae66745363 | 407 | // and now compute quaternion |
NaotoMorita | 19:3fae66745363 | 408 | qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 409 | qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
NaotoMorita | 19:3fae66745363 | 410 | qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 411 | qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 412 | } |
NaotoMorita | 19:3fae66745363 | 413 | |
NaotoMorita | 23:1509648c2318 | 414 | void ScErrStateEKF::computeVb(Vector3& vb) |
NaotoMorita | 23:1509648c2318 | 415 | { |
NaotoMorita | 23:1509648c2318 | 416 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 417 | computeDcm(dcm, qhat); |
NaotoMorita | 23:1509648c2318 | 418 | Matrix vbmat = dcm*vihat; |
NaotoMorita | 23:1509648c2318 | 419 | vb.x = vbmat(1,1); |
NaotoMorita | 23:1509648c2318 | 420 | vb.y = vbmat(2,1); |
NaotoMorita | 23:1509648c2318 | 421 | vb.z = vbmat(3,1); |
NaotoMorita | 23:1509648c2318 | 422 | |
NaotoMorita | 23:1509648c2318 | 423 | } |
NaotoMorita | 23:1509648c2318 | 424 | |
NaotoMorita | 19:3fae66745363 | 425 | |
NaotoMorita | 19:3fae66745363 | 426 | |
NaotoMorita | 19:3fae66745363 | 427 | Vector3 ScErrStateEKF::calcDynAcc(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 428 | { |
NaotoMorita | 19:3fae66745363 | 429 | Matrix dcm(3,3); |
NaotoMorita | 19:3fae66745363 | 430 | computeDcm(dcm, qhat); |
NaotoMorita | 19:3fae66745363 | 431 | float _x, _y, _z; |
NaotoMorita | 19:3fae66745363 | 432 | _x = acc.x-(dcm( 1, 1 )*accref.x+dcm( 1, 2 )*accref.y+dcm( 1, 3 )*accref.z); |
NaotoMorita | 19:3fae66745363 | 433 | _y = acc.y-(dcm( 2, 1 )*accref.x+dcm( 2, 2 )*accref.y+dcm( 2, 3 )*accref.z); |
NaotoMorita | 19:3fae66745363 | 434 | _z = acc.z-(dcm( 3, 1 )*accref.x+dcm( 3, 2 )*accref.y+dcm( 3, 3 )*accref.z); |
NaotoMorita | 19:3fae66745363 | 435 | return Vector3(_x, _y, _z); |
NaotoMorita | 19:3fae66745363 | 436 | } |
NaotoMorita | 19:3fae66745363 | 437 | |
NaotoMorita | 19:3fae66745363 | 438 | |
NaotoMorita | 19:3fae66745363 | 439 | bool ScErrStateEKF::determinDynStatus(Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 440 | { |
NaotoMorita | 19:3fae66745363 | 441 | histffunc[histffuncindex] = acc.Norm()*acc.Norm()-accref.Norm()*accref.Norm()-3.0f*sigma2a; |
NaotoMorita | 19:3fae66745363 | 442 | if(histffuncindex<9){ |
NaotoMorita | 19:3fae66745363 | 443 | histffuncindex += 1; |
NaotoMorita | 19:3fae66745363 | 444 | }else{ |
NaotoMorita | 19:3fae66745363 | 445 | histffuncindex =0; |
NaotoMorita | 19:3fae66745363 | 446 | } |
NaotoMorita | 19:3fae66745363 | 447 | aveffunc = 0; |
NaotoMorita | 19:3fae66745363 | 448 | for(int i = 1;i<10;i++){ |
NaotoMorita | 19:3fae66745363 | 449 | aveffunc += 1.0f/10.0f*histffunc[i]; |
NaotoMorita | 19:3fae66745363 | 450 | } |
NaotoMorita | 19:3fae66745363 | 451 | sigma2f = 1.0f/10.0f*(6.0f*sigma2a*sigma2a+4.0f*accref.Norm()*accref.Norm()*sigma2a); |
NaotoMorita | 19:3fae66745363 | 452 | |
NaotoMorita | 19:3fae66745363 | 453 | |
NaotoMorita | 19:3fae66745363 | 454 | dynacc = calcDynAcc(acc,accref); |
NaotoMorita | 19:3fae66745363 | 455 | bool dynCase = true; |
NaotoMorita | 19:3fae66745363 | 456 | if((dynacc.Norm()<0.005f) && (abs(acc.Norm()-accref.Norm())<0.005f)){dynCase = false;} |
NaotoMorita | 19:3fae66745363 | 457 | if(aveffunc<sqrt(sigma2f/0.99f) && abs(acc.Norm()-accref.Norm())<0.001f){dynCase = false;} |
NaotoMorita | 19:3fae66745363 | 458 | return dynCase; |
NaotoMorita | 19:3fae66745363 | 459 | |
NaotoMorita | 19:3fae66745363 | 460 | } |
NaotoMorita | 19:3fae66745363 | 461 | |
NaotoMorita | 22:7d84b8bc20b4 | 462 | /* |
NaotoMorita | 22:7d84b8bc20b4 | 463 | void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt) |
NaotoMorita | 22:7d84b8bc20b4 | 464 | { |
NaotoMorita | 22:7d84b8bc20b4 | 465 | gyro -= gyroBias; |
NaotoMorita | 22:7d84b8bc20b4 | 466 | acc -= accBias; |
NaotoMorita | 22:7d84b8bc20b4 | 467 | Matrix A(4,4); |
NaotoMorita | 22:7d84b8bc20b4 | 468 | A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z |
NaotoMorita | 22:7d84b8bc20b4 | 469 | << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y |
NaotoMorita | 22:7d84b8bc20b4 | 470 | << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x |
NaotoMorita | 22:7d84b8bc20b4 | 471 | << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ; |
NaotoMorita | 22:7d84b8bc20b4 | 472 | |
NaotoMorita | 22:7d84b8bc20b4 | 473 | Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 22:7d84b8bc20b4 | 474 | qhat = phi * qhat; |
NaotoMorita | 22:7d84b8bc20b4 | 475 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 22:7d84b8bc20b4 | 476 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 22:7d84b8bc20b4 | 477 | |
NaotoMorita | 22:7d84b8bc20b4 | 478 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 479 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 480 | vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f; |
NaotoMorita | 22:7d84b8bc20b4 | 481 | } |
NaotoMorita | 19:3fae66745363 | 482 | |
NaotoMorita | 22:7d84b8bc20b4 | 483 | void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt) |
NaotoMorita | 22:7d84b8bc20b4 | 484 | { |
NaotoMorita | 22:7d84b8bc20b4 | 485 | gyro -= gyroBias; |
NaotoMorita | 22:7d84b8bc20b4 | 486 | acc -= accBias; |
NaotoMorita | 22:7d84b8bc20b4 | 487 | Matrix A(nState,nState); |
NaotoMorita | 22:7d84b8bc20b4 | 488 | A(1,2) = gyro.z; |
NaotoMorita | 22:7d84b8bc20b4 | 489 | A(1,3) = -gyro.y; |
NaotoMorita | 22:7d84b8bc20b4 | 490 | A(2,1) = -gyro.z; |
NaotoMorita | 22:7d84b8bc20b4 | 491 | A(2,3) = gyro.x; |
NaotoMorita | 22:7d84b8bc20b4 | 492 | A(3,1) = gyro.y; |
NaotoMorita | 22:7d84b8bc20b4 | 493 | A(3,2) = -gyro.x; |
NaotoMorita | 22:7d84b8bc20b4 | 494 | A(1,4) = -0.5f; |
NaotoMorita | 22:7d84b8bc20b4 | 495 | A(2,5) = -0.5f; |
NaotoMorita | 22:7d84b8bc20b4 | 496 | A(3,6) = -0.5f; |
NaotoMorita | 22:7d84b8bc20b4 | 497 | |
NaotoMorita | 22:7d84b8bc20b4 | 498 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 499 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 500 | Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z); |
NaotoMorita | 22:7d84b8bc20b4 | 501 | Matrix baterm = -9.8f*MatrixMath::Transpose(dcm); |
NaotoMorita | 22:7d84b8bc20b4 | 502 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 22:7d84b8bc20b4 | 503 | for (int j = 1; i < 4; i++){ |
NaotoMorita | 22:7d84b8bc20b4 | 504 | A(i+9,j) = qeterm(i,j); |
NaotoMorita | 22:7d84b8bc20b4 | 505 | A(i+9,j+6) = baterm(i,j); |
NaotoMorita | 22:7d84b8bc20b4 | 506 | } |
NaotoMorita | 22:7d84b8bc20b4 | 507 | } |
NaotoMorita | 22:7d84b8bc20b4 | 508 | |
NaotoMorita | 22:7d84b8bc20b4 | 509 | Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 22:7d84b8bc20b4 | 510 | 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 | 511 | errState = phi * errState; |
NaotoMorita | 22:7d84b8bc20b4 | 512 | Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd; |
NaotoMorita | 22:7d84b8bc20b4 | 513 | } |
NaotoMorita | 22:7d84b8bc20b4 | 514 | |
NaotoMorita | 22:7d84b8bc20b4 | 515 | void ScErrStateEKF::updateVelocityConstraints() |
NaotoMorita | 22:7d84b8bc20b4 | 516 | { |
NaotoMorita | 22:7d84b8bc20b4 | 517 | |
NaotoMorita | 22:7d84b8bc20b4 | 518 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 519 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 520 | Matrix H(2,nState); |
NaotoMorita | 22:7d84b8bc20b4 | 521 | |
NaotoMorita | 22:7d84b8bc20b4 | 522 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 22:7d84b8bc20b4 | 523 | Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 524 | for(int j = 1;j<4;j++){ |
NaotoMorita | 22:7d84b8bc20b4 | 525 | H(1,j) = -qeterm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 526 | H(2,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 527 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 528 | H(1,9+j) = -dcm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 529 | H(2,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 530 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 531 | } |
NaotoMorita | 22:7d84b8bc20b4 | 532 | |
NaotoMorita | 22:7d84b8bc20b4 | 533 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc); |
NaotoMorita | 22:7d84b8bc20b4 | 534 | Matrix z(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 535 | z << nomVb(1,1) << nomVb(3,1) ; |
NaotoMorita | 22:7d84b8bc20b4 | 536 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 22:7d84b8bc20b4 | 537 | errState = errState + corrVal; |
NaotoMorita | 22:7d84b8bc20b4 | 538 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K); |
NaotoMorita | 22:7d84b8bc20b4 | 539 | |
NaotoMorita | 22:7d84b8bc20b4 | 540 | } |
NaotoMorita | 22:7d84b8bc20b4 | 541 | |
NaotoMorita | 22:7d84b8bc20b4 | 542 | void ScErrStateEKF::updateConstraints(Vector3 gyro) |
NaotoMorita | 22:7d84b8bc20b4 | 543 | { |
NaotoMorita | 22:7d84b8bc20b4 | 544 | |
NaotoMorita | 22:7d84b8bc20b4 | 545 | gyro -=gyroBias; |
NaotoMorita | 22:7d84b8bc20b4 | 546 | |
NaotoMorita | 22:7d84b8bc20b4 | 547 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 548 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 549 | |
NaotoMorita | 22:7d84b8bc20b4 | 550 | Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z); |
NaotoMorita | 22:7d84b8bc20b4 | 551 | Matrix H(4,nState); |
NaotoMorita | 22:7d84b8bc20b4 | 552 | for(int i = 1; i<3; i++){ |
NaotoMorita | 22:7d84b8bc20b4 | 553 | for(int j = 1;j<4;j++){ |
NaotoMorita | 22:7d84b8bc20b4 | 554 | H(i,j) = qeterm(i,j); |
NaotoMorita | 22:7d84b8bc20b4 | 555 | } |
NaotoMorita | 22:7d84b8bc20b4 | 556 | } |
NaotoMorita | 22:7d84b8bc20b4 | 557 | H(1,4) = 1.0f*(dcm(1,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 558 | H(1,5) = 1.0f*(dcm(2,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 559 | H(1,6) = 1.0f*(dcm(3,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 560 | H(2,4) = 1.0f*(dcm(1,2)); |
NaotoMorita | 22:7d84b8bc20b4 | 561 | H(2,5) = 1.0f*(dcm(2,2)); |
NaotoMorita | 22:7d84b8bc20b4 | 562 | H(2,6) = 1.0f*(dcm(3,2)); |
NaotoMorita | 22:7d84b8bc20b4 | 563 | |
NaotoMorita | 22:7d84b8bc20b4 | 564 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 22:7d84b8bc20b4 | 565 | qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 22:7d84b8bc20b4 | 566 | for(int j = 1;j<4;j++){ |
NaotoMorita | 22:7d84b8bc20b4 | 567 | H(3,j) = -qeterm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 568 | H(4,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 569 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 570 | H(3,9+j) = -dcm(1,j); |
NaotoMorita | 22:7d84b8bc20b4 | 571 | H(4,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 572 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 22:7d84b8bc20b4 | 573 | } |
NaotoMorita | 22:7d84b8bc20b4 | 574 | |
NaotoMorita | 22:7d84b8bc20b4 | 575 | Matrix R(4,4); |
NaotoMorita | 22:7d84b8bc20b4 | 576 | R(1,1) = Rgsc(1,1); |
NaotoMorita | 22:7d84b8bc20b4 | 577 | R(2,2) = Rgsc(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 578 | R(3,3) = Rvsc(1,1); |
NaotoMorita | 22:7d84b8bc20b4 | 579 | R(4,4) = Rvsc(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 580 | //R(5,5) = Rvsc(3,1); |
NaotoMorita | 22:7d84b8bc20b4 | 581 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 22:7d84b8bc20b4 | 582 | Matrix z(4,1); |
NaotoMorita | 22:7d84b8bc20b4 | 583 | 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 | 584 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 22:7d84b8bc20b4 | 585 | errState = errState + corrVal; |
NaotoMorita | 22:7d84b8bc20b4 | 586 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 22:7d84b8bc20b4 | 587 | } |
NaotoMorita | 22:7d84b8bc20b4 | 588 | |
NaotoMorita | 22:7d84b8bc20b4 | 589 | void ScErrStateEKF::computeVb(Vector3& vb) |
NaotoMorita | 22:7d84b8bc20b4 | 590 | { |
NaotoMorita | 22:7d84b8bc20b4 | 591 | Matrix dcm(3,3); |
NaotoMorita | 22:7d84b8bc20b4 | 592 | computeDcm(dcm, qhat); |
NaotoMorita | 22:7d84b8bc20b4 | 593 | Matrix vbmat = dcm*vihat; |
NaotoMorita | 22:7d84b8bc20b4 | 594 | vb.x = vbmat(1,1); |
NaotoMorita | 22:7d84b8bc20b4 | 595 | vb.y = vbmat(2,1); |
NaotoMorita | 22:7d84b8bc20b4 | 596 | vb.z = vbmat(3,1); |
NaotoMorita | 22:7d84b8bc20b4 | 597 | |
NaotoMorita | 22:7d84b8bc20b4 | 598 | } |
NaotoMorita | 26:73c3f58b9d70 | 599 | |
NaotoMorita | 26:73c3f58b9d70 | 600 | void ScErrStateEKF::updateMagMeasures(Vector3 mag) |
NaotoMorita | 26:73c3f58b9d70 | 601 | { |
NaotoMorita | 26:73c3f58b9d70 | 602 | //mag = mag/mag.Norm(); |
NaotoMorita | 26:73c3f58b9d70 | 603 | Matrix dcm(3,3); |
NaotoMorita | 26:73c3f58b9d70 | 604 | computeDcm(dcm, qhat); |
NaotoMorita | 26:73c3f58b9d70 | 605 | |
NaotoMorita | 26:73c3f58b9d70 | 606 | Matrix magvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 607 | magvec(1,1) = mag.x; |
NaotoMorita | 26:73c3f58b9d70 | 608 | magvec(2,1) = mag.y; |
NaotoMorita | 26:73c3f58b9d70 | 609 | magvec(3,1) = mag.z; |
NaotoMorita | 26:73c3f58b9d70 | 610 | |
NaotoMorita | 26:73c3f58b9d70 | 611 | Matrix magnedvec = MatrixMath::Transpose(dcm)*magvec; |
NaotoMorita | 26:73c3f58b9d70 | 612 | Matrix magrefmod(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 613 | magrefmod(1,1) = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1)); |
NaotoMorita | 26:73c3f58b9d70 | 614 | magrefmod(2,1) = 0.0f; |
NaotoMorita | 26:73c3f58b9d70 | 615 | magrefmod(3,1) = magnedvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 616 | |
NaotoMorita | 26:73c3f58b9d70 | 617 | Matrix mvec = dcm*magrefmod ; |
NaotoMorita | 26:73c3f58b9d70 | 618 | Matrix H(3,nState); |
NaotoMorita | 26:73c3f58b9d70 | 619 | H(1,2) = -2.0f*magvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 620 | H(1,3) = 2.0f*magvec(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 621 | H(2,1) = 2.0f*magvec(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 622 | H(2,3) = -2.0f*magvec(1,1); |
NaotoMorita | 26:73c3f58b9d70 | 623 | H(3,1) = -2.0f*magvec(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 624 | H(3,2) = 2.0f*magvec(1,1); |
NaotoMorita | 26:73c3f58b9d70 | 625 | Matrix Pm(nState,nState); |
NaotoMorita | 26:73c3f58b9d70 | 626 | for(int i = 1; i<4; i++){ |
NaotoMorita | 26:73c3f58b9d70 | 627 | for(int j = 1;j<4;j++){ |
NaotoMorita | 26:73c3f58b9d70 | 628 | Pm(i,j) = Phat(i,j); |
NaotoMorita | 26:73c3f58b9d70 | 629 | } |
NaotoMorita | 26:73c3f58b9d70 | 630 | } |
NaotoMorita | 26:73c3f58b9d70 | 631 | Matrix r3(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 632 | r3 << dcm(1,3)<< dcm(2,3) << dcm(3,3); |
NaotoMorita | 26:73c3f58b9d70 | 633 | Matrix kpart = r3*MatrixMath::Transpose(r3); |
NaotoMorita | 26:73c3f58b9d70 | 634 | Matrix Kmod(nState,nState); |
NaotoMorita | 26:73c3f58b9d70 | 635 | for(int i = 1; i<4; i++){ |
NaotoMorita | 26:73c3f58b9d70 | 636 | for(int j = 1;j<4;j++){ |
NaotoMorita | 26:73c3f58b9d70 | 637 | Kmod(i,j) = kpart(i,j); |
NaotoMorita | 26:73c3f58b9d70 | 638 | } |
NaotoMorita | 26:73c3f58b9d70 | 639 | } |
NaotoMorita | 26:73c3f58b9d70 | 640 | |
NaotoMorita | 26:73c3f58b9d70 | 641 | Matrix K = Kmod*(Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rm); |
NaotoMorita | 26:73c3f58b9d70 | 642 | Matrix z = magvec-mvec; |
NaotoMorita | 26:73c3f58b9d70 | 643 | errState = errState + K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 644 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rm)*MatrixMath::Transpose(K); |
NaotoMorita | 26:73c3f58b9d70 | 645 | } |
NaotoMorita | 26:73c3f58b9d70 | 646 | |
NaotoMorita | 26:73c3f58b9d70 | 647 | void ScErrStateEKF::updateVelocityConstraints() |
NaotoMorita | 26:73c3f58b9d70 | 648 | { |
NaotoMorita | 26:73c3f58b9d70 | 649 | |
NaotoMorita | 26:73c3f58b9d70 | 650 | Matrix dcm(3,3); |
NaotoMorita | 26:73c3f58b9d70 | 651 | computeDcm(dcm, qhat); |
NaotoMorita | 26:73c3f58b9d70 | 652 | Matrix H(2,nState); |
NaotoMorita | 26:73c3f58b9d70 | 653 | |
NaotoMorita | 26:73c3f58b9d70 | 654 | Matrix nomVb = dcm*vihat; |
NaotoMorita | 26:73c3f58b9d70 | 655 | Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1)); |
NaotoMorita | 26:73c3f58b9d70 | 656 | for(int j = 1;j<4;j++){ |
NaotoMorita | 26:73c3f58b9d70 | 657 | H(1,j) = -qeterm(1,j); |
NaotoMorita | 26:73c3f58b9d70 | 658 | H(2,j) = -qeterm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 659 | //H(3,j) = -qeterm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 660 | H(1,9+j) = -dcm(1,j); |
NaotoMorita | 26:73c3f58b9d70 | 661 | H(2,9+j) = -dcm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 662 | //H(3,9+j) = -dcm(3,j); |
NaotoMorita | 26:73c3f58b9d70 | 663 | } |
NaotoMorita | 26:73c3f58b9d70 | 664 | |
NaotoMorita | 26:73c3f58b9d70 | 665 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc); |
NaotoMorita | 26:73c3f58b9d70 | 666 | Matrix z(2,1); |
NaotoMorita | 26:73c3f58b9d70 | 667 | z << nomVb(1,1) << nomVb(3,1) ; |
NaotoMorita | 26:73c3f58b9d70 | 668 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 669 | errState = errState + corrVal; |
NaotoMorita | 26:73c3f58b9d70 | 670 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K); |
NaotoMorita | 26:73c3f58b9d70 | 671 | |
NaotoMorita | 26:73c3f58b9d70 | 672 | } |
NaotoMorita | 22:7d84b8bc20b4 | 673 | */ |
NaotoMorita | 22:7d84b8bc20b4 | 674 | |
NaotoMorita | 22:7d84b8bc20b4 | 675 |