Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.cpp@56:c10f1168bd4a, 2021-11-10 (annotated)
- Committer:
- NaotoMorita
- Date:
- Wed Nov 10 05:21:36 2021 +0000
- Revision:
- 56:c10f1168bd4a
- Parent:
- 55:21611d4cf7e8
- Child:
- 58:93ba28cf5cb3
imu 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 | 46:15988dc41923 | 15 | |
NaotoMorita | 56:c10f1168bd4a | 16 | for (int i = 1; i < 20; i++){ |
NaotoMorita | 46:15988dc41923 | 17 | errState(i,1) = 0.0f; |
NaotoMorita | 56:c10f1168bd4a | 18 | for (int j = 1; j < 20; j++){ |
NaotoMorita | 46:15988dc41923 | 19 | Phat(i,j) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 20 | Q(i,j) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 21 | } |
NaotoMorita | 46:15988dc41923 | 22 | } |
NaotoMorita | 44:7d82e63b6a86 | 23 | |
NaotoMorita | 44:7d82e63b6a86 | 24 | |
NaotoMorita | 21:d6079def0473 | 25 | nState = errState.getRows(); |
NaotoMorita | 47:2467de40951f | 26 | |
NaotoMorita | 46:15988dc41923 | 27 | setBlockDiag(Phat,0.1f,1,3);//position |
NaotoMorita | 46:15988dc41923 | 28 | setBlockDiag(Phat,0.1f,4,6);//velocity |
NaotoMorita | 46:15988dc41923 | 29 | setBlockDiag(Phat,0.1f,7,9);//angle error |
NaotoMorita | 47:2467de40951f | 30 | setBlockDiag(Phat,0.1f,10,12);//acc bias |
NaotoMorita | 47:2467de40951f | 31 | setBlockDiag(Phat,0.1f,13,15);//gyro bias |
NaotoMorita | 56:c10f1168bd4a | 32 | setBlockDiag(Phat,0.00000001f,16,18);//gravity |
NaotoMorita | 56:c10f1168bd4a | 33 | setBlockDiag(Phat,0.1f,19,19);//gravity |
NaotoMorita | 47:2467de40951f | 34 | setBlockDiag(Q,0.00025f,4,6);//velocity |
NaotoMorita | 55:21611d4cf7e8 | 35 | setBlockDiag(Q,0.005f/57.0f,7,9);//angle error |
NaotoMorita | 46:15988dc41923 | 36 | setBlockDiag(Q,0.001f,10,12);//acc bias |
NaotoMorita | 56:c10f1168bd4a | 37 | setBlockDiag(Q,0.001f,13,15);//gyro bias |
NaotoMorita | 56:c10f1168bd4a | 38 | setBlockDiag(Q,0.001f,19,19);//mag field //positionとgravityはQ項なし |
NaotoMorita | 19:3fae66745363 | 39 | |
NaotoMorita | 19:3fae66745363 | 40 | |
NaotoMorita | 19:3fae66745363 | 41 | } |
NaotoMorita | 19:3fae66745363 | 42 | |
NaotoMorita | 47:2467de40951f | 43 | |
NaotoMorita | 44:7d82e63b6a86 | 44 | void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt) |
NaotoMorita | 19:3fae66745363 | 45 | { |
NaotoMorita | 44:7d82e63b6a86 | 46 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 47 | Matrix accm = acc - accBias; |
NaotoMorita | 44:7d82e63b6a86 | 48 | |
NaotoMorita | 44:7d82e63b6a86 | 49 | Matrix qint(4,1); |
NaotoMorita | 46:15988dc41923 | 50 | 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 | 51 | qhat = quatmultiply(qhat,qint); |
NaotoMorita | 19:3fae66745363 | 52 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 53 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 54 | |
NaotoMorita | 23:1509648c2318 | 55 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 56 | computeDcm(dcm, qhat); |
NaotoMorita | 46:15988dc41923 | 57 | Matrix accned = dcm*accm+gravity; |
NaotoMorita | 44:7d82e63b6a86 | 58 | vihat += accned*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 59 | |
NaotoMorita | 44:7d82e63b6a86 | 60 | pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt; |
NaotoMorita | 19:3fae66745363 | 61 | } |
NaotoMorita | 19:3fae66745363 | 62 | |
NaotoMorita | 44:7d82e63b6a86 | 63 | void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt) |
NaotoMorita | 23:1509648c2318 | 64 | { |
NaotoMorita | 44:7d82e63b6a86 | 65 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 66 | Matrix accm = acc - accBias; |
NaotoMorita | 23:1509648c2318 | 67 | |
NaotoMorita | 23:1509648c2318 | 68 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 69 | computeDcm(dcm, qhat); |
NaotoMorita | 47:2467de40951f | 70 | Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 71 | |
NaotoMorita | 47:2467de40951f | 72 | Matrix A(nState,nState); |
NaotoMorita | 44:7d82e63b6a86 | 73 | //position |
NaotoMorita | 47:2467de40951f | 74 | A(1,4) = 1.0f; |
NaotoMorita | 47:2467de40951f | 75 | A(2,5) = 1.0f; |
NaotoMorita | 47:2467de40951f | 76 | A(3,6) = 1.0f; |
NaotoMorita | 47:2467de40951f | 77 | |
NaotoMorita | 47:2467de40951f | 78 | //velocity |
NaotoMorita | 46:15988dc41923 | 79 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 46:15988dc41923 | 80 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 47:2467de40951f | 81 | A(i+3,j+6) = a2v(i,j); |
NaotoMorita | 47:2467de40951f | 82 | A(i+3,j+9) = -dcm(i,j); |
NaotoMorita | 47:2467de40951f | 83 | |
NaotoMorita | 23:1509648c2318 | 84 | } |
NaotoMorita | 23:1509648c2318 | 85 | } |
NaotoMorita | 47:2467de40951f | 86 | A(4,16) = 1.0f; |
NaotoMorita | 47:2467de40951f | 87 | A(5,17) = 1.0f; |
NaotoMorita | 47:2467de40951f | 88 | A(6,18) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 89 | |
NaotoMorita | 44:7d82e63b6a86 | 90 | //angulat error |
NaotoMorita | 47:2467de40951f | 91 | A(7,8) = gyrom(3,1); |
NaotoMorita | 47:2467de40951f | 92 | A(7,9) = -gyrom(2,1); |
NaotoMorita | 47:2467de40951f | 93 | A(8,7) = -gyrom(3,1); |
NaotoMorita | 47:2467de40951f | 94 | A(8,9) = gyrom(1,1); |
NaotoMorita | 47:2467de40951f | 95 | A(9,7) = gyrom(2,1); |
NaotoMorita | 47:2467de40951f | 96 | A(9,8) = -gyrom(1,1); |
NaotoMorita | 47:2467de40951f | 97 | A(7,13) = -1.0f; |
NaotoMorita | 47:2467de40951f | 98 | A(8,14) = -1.0f; |
NaotoMorita | 47:2467de40951f | 99 | A(9,15) = -1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 100 | |
NaotoMorita | 47:2467de40951f | 101 | |
NaotoMorita | 47:2467de40951f | 102 | Matrix Fx = MatrixMath::Eye(nState) + A * att_dt;// + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 47:2467de40951f | 103 | 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 | 104 | |
NaotoMorita | 44:7d82e63b6a86 | 105 | errState = Fx * errState; |
NaotoMorita | 47:2467de40951f | 106 | Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Qd; |
NaotoMorita | 25:07ac5c6cd61c | 107 | } |
NaotoMorita | 25:07ac5c6cd61c | 108 | |
NaotoMorita | 56:c10f1168bd4a | 109 | void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R) |
NaotoMorita | 46:15988dc41923 | 110 | { |
NaotoMorita | 46:15988dc41923 | 111 | Matrix accm = acc - accBias; |
NaotoMorita | 56:c10f1168bd4a | 112 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 113 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 114 | Matrix tdcm = MatrixMath::Transpose(dcm); |
NaotoMorita | 46:15988dc41923 | 115 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 46:15988dc41923 | 116 | Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 117 | Matrix a2v2 = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 46:15988dc41923 | 118 | |
NaotoMorita | 56:c10f1168bd4a | 119 | Matrix H(5,nState); |
NaotoMorita | 56:c10f1168bd4a | 120 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 121 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 46:15988dc41923 | 122 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 46:15988dc41923 | 123 | H(i,j+15) = tdcm(i,j); |
NaotoMorita | 46:15988dc41923 | 124 | } |
NaotoMorita | 56:c10f1168bd4a | 125 | H(4,j+6) = a2v2(1,j); |
NaotoMorita | 56:c10f1168bd4a | 126 | H(5,j+6) = a2v2(2,j); |
NaotoMorita | 46:15988dc41923 | 127 | } |
NaotoMorita | 56:c10f1168bd4a | 128 | |
NaotoMorita | 46:15988dc41923 | 129 | H(1,10) = -1.0f; |
NaotoMorita | 46:15988dc41923 | 130 | H(2,11) = -1.0f; |
NaotoMorita | 46:15988dc41923 | 131 | H(3,12) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 132 | H(4,19) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 133 | |
NaotoMorita | 47:2467de40951f | 134 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 47:2467de40951f | 135 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 47:2467de40951f | 136 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 50:dadad0567349 | 137 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 138 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 56:c10f1168bd4a | 139 | Matrix z(5,1); |
NaotoMorita | 56:c10f1168bd4a | 140 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << zmag(1,1) << zmag(2,1); |
NaotoMorita | 46:15988dc41923 | 141 | errState = K * z; |
NaotoMorita | 50:dadad0567349 | 142 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 47:2467de40951f | 143 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 50:dadad0567349 | 144 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 145 | fuseErr2Nominal(); |
NaotoMorita | 46:15988dc41923 | 146 | } |
NaotoMorita | 46:15988dc41923 | 147 | |
NaotoMorita | 46:15988dc41923 | 148 | |
NaotoMorita | 56:c10f1168bd4a | 149 | void solaESKF::updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R) |
NaotoMorita | 46:15988dc41923 | 150 | { |
NaotoMorita | 46:15988dc41923 | 151 | |
NaotoMorita | 53:8b551358a7e3 | 152 | Matrix H(5,nState); |
NaotoMorita | 46:15988dc41923 | 153 | H(1,1) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 154 | H(2,2) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 155 | H(3,3) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 156 | H(4,4) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 157 | H(5,5) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 158 | |
NaotoMorita | 53:8b551358a7e3 | 159 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 53:8b551358a7e3 | 160 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 53:8b551358a7e3 | 161 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 53:8b551358a7e3 | 162 | Matrix z(5,1); |
NaotoMorita | 56:c10f1168bd4a | 163 | z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1) << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1); |
NaotoMorita | 46:15988dc41923 | 164 | errState = K * z; |
NaotoMorita | 53:8b551358a7e3 | 165 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 46:15988dc41923 | 166 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 53:8b551358a7e3 | 167 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 168 | fuseErr2Nominal(); |
NaotoMorita | 46:15988dc41923 | 169 | } |
NaotoMorita | 46:15988dc41923 | 170 | |
NaotoMorita | 44:7d82e63b6a86 | 171 | Matrix solaESKF::computeAngles() |
NaotoMorita | 25:07ac5c6cd61c | 172 | { |
NaotoMorita | 25:07ac5c6cd61c | 173 | |
NaotoMorita | 44:7d82e63b6a86 | 174 | Matrix euler(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 175 | 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 | 176 | euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1))); |
NaotoMorita | 44:7d82e63b6a86 | 177 | 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 | 178 | return euler; |
NaotoMorita | 19:3fae66745363 | 179 | } |
NaotoMorita | 19:3fae66745363 | 180 | |
NaotoMorita | 21:d6079def0473 | 181 | |
NaotoMorita | 44:7d82e63b6a86 | 182 | void solaESKF::fuseErr2Nominal() |
NaotoMorita | 19:3fae66745363 | 183 | { |
NaotoMorita | 44:7d82e63b6a86 | 184 | //position |
NaotoMorita | 44:7d82e63b6a86 | 185 | pihat(1,1) += errState(1,1); |
NaotoMorita | 44:7d82e63b6a86 | 186 | pihat(2,1) += errState(2,1); |
NaotoMorita | 44:7d82e63b6a86 | 187 | pihat(3,1) += errState(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 188 | |
NaotoMorita | 44:7d82e63b6a86 | 189 | //velocity |
NaotoMorita | 44:7d82e63b6a86 | 190 | vihat(1,1) += errState(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 191 | vihat(2,1) += errState(5,1); |
NaotoMorita | 44:7d82e63b6a86 | 192 | vihat(3,1) += errState(6,1); |
NaotoMorita | 44:7d82e63b6a86 | 193 | |
NaotoMorita | 44:7d82e63b6a86 | 194 | //angle error |
NaotoMorita | 19:3fae66745363 | 195 | Matrix qerr(4,1); |
NaotoMorita | 46:15988dc41923 | 196 | qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1); |
NaotoMorita | 19:3fae66745363 | 197 | qhat = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 198 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 199 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 200 | |
NaotoMorita | 44:7d82e63b6a86 | 201 | //acc bias |
NaotoMorita | 44:7d82e63b6a86 | 202 | accBias(1,1) += errState(10,1); |
NaotoMorita | 44:7d82e63b6a86 | 203 | accBias(2,1) += errState(11,1); |
NaotoMorita | 44:7d82e63b6a86 | 204 | accBias(3,1) += errState(12,1); |
NaotoMorita | 44:7d82e63b6a86 | 205 | |
NaotoMorita | 44:7d82e63b6a86 | 206 | //gyro bias |
NaotoMorita | 44:7d82e63b6a86 | 207 | gyroBias(1,1) += errState(13,1); |
NaotoMorita | 44:7d82e63b6a86 | 208 | gyroBias(2,1) += errState(14,1); |
NaotoMorita | 44:7d82e63b6a86 | 209 | gyroBias(3,1) += errState(15,1); |
NaotoMorita | 44:7d82e63b6a86 | 210 | |
NaotoMorita | 44:7d82e63b6a86 | 211 | //gravity bias |
NaotoMorita | 44:7d82e63b6a86 | 212 | gravity(1,1) += errState(16,1); |
NaotoMorita | 44:7d82e63b6a86 | 213 | gravity(2,1) += errState(17,1); |
NaotoMorita | 44:7d82e63b6a86 | 214 | gravity(3,1) += errState(18,1); |
NaotoMorita | 47:2467de40951f | 215 | |
NaotoMorita | 56:c10f1168bd4a | 216 | //gravity bias |
NaotoMorita | 56:c10f1168bd4a | 217 | magField(1,1) += errState(19,1); |
NaotoMorita | 56:c10f1168bd4a | 218 | magField(2,1) = 0.0f; |
NaotoMorita | 56:c10f1168bd4a | 219 | magField(3,1) = 0.0f; |
NaotoMorita | 56:c10f1168bd4a | 220 | |
NaotoMorita | 56:c10f1168bd4a | 221 | for (int i = 1; i < 20; i++){ |
NaotoMorita | 47:2467de40951f | 222 | errState(i,1) = 0.0f; |
NaotoMorita | 47:2467de40951f | 223 | } |
NaotoMorita | 44:7d82e63b6a86 | 224 | |
NaotoMorita | 19:3fae66745363 | 225 | } |
NaotoMorita | 19:3fae66745363 | 226 | |
NaotoMorita | 44:7d82e63b6a86 | 227 | Matrix solaESKF::quatmultiply(Matrix p, Matrix q) |
NaotoMorita | 19:3fae66745363 | 228 | { |
NaotoMorita | 44:7d82e63b6a86 | 229 | |
NaotoMorita | 19:3fae66745363 | 230 | Matrix qout(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 231 | 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 | 232 | 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 | 233 | 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 | 234 | 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 | 235 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); |
NaotoMorita | 19:3fae66745363 | 236 | qout *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 237 | return qout; |
NaotoMorita | 19:3fae66745363 | 238 | } |
NaotoMorita | 19:3fae66745363 | 239 | |
NaotoMorita | 44:7d82e63b6a86 | 240 | void solaESKF::computeDcm(Matrix& dcm, Matrix quat) |
NaotoMorita | 19:3fae66745363 | 241 | { |
NaotoMorita | 19:3fae66745363 | 242 | |
NaotoMorita | 44:7d82e63b6a86 | 243 | 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 | 244 | dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 245 | dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 246 | dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 247 | 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 | 248 | dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 249 | dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 250 | dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 251 | 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 | 252 | |
NaotoMorita | 19:3fae66745363 | 253 | } |
NaotoMorita | 19:3fae66745363 | 254 | |
NaotoMorita | 44:7d82e63b6a86 | 255 | void solaESKF::setQhat(float ex,float ey,float ez) |
NaotoMorita | 44:7d82e63b6a86 | 256 | { |
NaotoMorita | 44:7d82e63b6a86 | 257 | float cos_z_2 = cosf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 258 | float cos_y_2 = cosf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 259 | float cos_x_2 = cosf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 260 | |
NaotoMorita | 44:7d82e63b6a86 | 261 | float sin_z_2 = sinf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 262 | float sin_y_2 = sinf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 263 | float sin_x_2 = sinf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 264 | |
NaotoMorita | 19:3fae66745363 | 265 | // and now compute quaternion |
NaotoMorita | 19:3fae66745363 | 266 | qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 267 | qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
NaotoMorita | 19:3fae66745363 | 268 | qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 269 | qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 270 | } |
NaotoMorita | 19:3fae66745363 | 271 | |
NaotoMorita | 47:2467de40951f | 272 | |
NaotoMorita | 47:2467de40951f | 273 | |
NaotoMorita | 44:7d82e63b6a86 | 274 | void solaESKF::setGravity(float gx,float gy,float gz) |
NaotoMorita | 23:1509648c2318 | 275 | { |
NaotoMorita | 44:7d82e63b6a86 | 276 | gravity(1,1) = gx; |
NaotoMorita | 44:7d82e63b6a86 | 277 | gravity(2,1) = gy; |
NaotoMorita | 44:7d82e63b6a86 | 278 | gravity(3,1) = gz; |
NaotoMorita | 23:1509648c2318 | 279 | } |
NaotoMorita | 47:2467de40951f | 280 | Matrix solaESKF::getPihat() |
NaotoMorita | 47:2467de40951f | 281 | { |
NaotoMorita | 47:2467de40951f | 282 | return pihat; |
NaotoMorita | 47:2467de40951f | 283 | } |
NaotoMorita | 47:2467de40951f | 284 | Matrix solaESKF::getVihat() |
NaotoMorita | 47:2467de40951f | 285 | { |
NaotoMorita | 47:2467de40951f | 286 | return vihat; |
NaotoMorita | 47:2467de40951f | 287 | } |
NaotoMorita | 47:2467de40951f | 288 | Matrix solaESKF::getQhat() |
NaotoMorita | 47:2467de40951f | 289 | { |
NaotoMorita | 47:2467de40951f | 290 | return qhat; |
NaotoMorita | 47:2467de40951f | 291 | } |
NaotoMorita | 47:2467de40951f | 292 | Matrix solaESKF::getAccBias() |
NaotoMorita | 47:2467de40951f | 293 | { |
NaotoMorita | 47:2467de40951f | 294 | return accBias; |
NaotoMorita | 47:2467de40951f | 295 | } |
NaotoMorita | 47:2467de40951f | 296 | Matrix solaESKF::getGyroBias() |
NaotoMorita | 47:2467de40951f | 297 | { |
NaotoMorita | 47:2467de40951f | 298 | return gyroBias; |
NaotoMorita | 47:2467de40951f | 299 | } |
NaotoMorita | 47:2467de40951f | 300 | Matrix solaESKF::getGravity() |
NaotoMorita | 47:2467de40951f | 301 | { |
NaotoMorita | 47:2467de40951f | 302 | return gravity; |
NaotoMorita | 47:2467de40951f | 303 | } |
NaotoMorita | 56:c10f1168bd4a | 304 | Matrix solaESKF::getMagField() |
NaotoMorita | 56:c10f1168bd4a | 305 | { |
NaotoMorita | 56:c10f1168bd4a | 306 | return magField; |
NaotoMorita | 56:c10f1168bd4a | 307 | } |
NaotoMorita | 47:2467de40951f | 308 | Matrix solaESKF::getErrState() |
NaotoMorita | 47:2467de40951f | 309 | { |
NaotoMorita | 47:2467de40951f | 310 | return errState; |
NaotoMorita | 47:2467de40951f | 311 | } |
NaotoMorita | 23:1509648c2318 | 312 | |
NaotoMorita | 47:2467de40951f | 313 | void solaESKF::setPhatPosition(float val) |
NaotoMorita | 47:2467de40951f | 314 | { |
NaotoMorita | 47:2467de40951f | 315 | setBlockDiag(Phat,val,1,3); |
NaotoMorita | 47:2467de40951f | 316 | } |
NaotoMorita | 47:2467de40951f | 317 | void solaESKF::setPhatVelocity(float val) |
NaotoMorita | 47:2467de40951f | 318 | { |
NaotoMorita | 47:2467de40951f | 319 | setBlockDiag(Phat,val,4,6); |
NaotoMorita | 47:2467de40951f | 320 | } |
NaotoMorita | 47:2467de40951f | 321 | void solaESKF::setPhatAngleError(float val) |
NaotoMorita | 47:2467de40951f | 322 | { |
NaotoMorita | 47:2467de40951f | 323 | setBlockDiag(Phat,val,7,9); |
NaotoMorita | 47:2467de40951f | 324 | } |
NaotoMorita | 47:2467de40951f | 325 | void solaESKF::setPhatAccBias(float val) |
NaotoMorita | 47:2467de40951f | 326 | { |
NaotoMorita | 47:2467de40951f | 327 | setBlockDiag(Phat,val,10,12); |
NaotoMorita | 47:2467de40951f | 328 | } |
NaotoMorita | 47:2467de40951f | 329 | void solaESKF::setPhatGyroBias(float val) |
NaotoMorita | 47:2467de40951f | 330 | { |
NaotoMorita | 47:2467de40951f | 331 | setBlockDiag(Phat,val,13,15); |
NaotoMorita | 47:2467de40951f | 332 | } |
NaotoMorita | 47:2467de40951f | 333 | void solaESKF::setPhatGravity(float val) |
NaotoMorita | 47:2467de40951f | 334 | { |
NaotoMorita | 47:2467de40951f | 335 | setBlockDiag(Phat,val,16,18); |
NaotoMorita | 47:2467de40951f | 336 | } |
NaotoMorita | 56:c10f1168bd4a | 337 | void solaESKF::setPhatMagField(float val) |
NaotoMorita | 56:c10f1168bd4a | 338 | { |
NaotoMorita | 56:c10f1168bd4a | 339 | setBlockDiag(Phat,val,19,19); |
NaotoMorita | 56:c10f1168bd4a | 340 | } |
NaotoMorita | 47:2467de40951f | 341 | |
NaotoMorita | 47:2467de40951f | 342 | |
NaotoMorita | 47:2467de40951f | 343 | void solaESKF::setQVelocity(float val) |
NaotoMorita | 47:2467de40951f | 344 | { |
NaotoMorita | 47:2467de40951f | 345 | setBlockDiag(Q,val,4,6); |
NaotoMorita | 47:2467de40951f | 346 | } |
NaotoMorita | 47:2467de40951f | 347 | void solaESKF::setQAngleError(float val) |
NaotoMorita | 47:2467de40951f | 348 | { |
NaotoMorita | 47:2467de40951f | 349 | setBlockDiag(Q,val,7,9); |
NaotoMorita | 47:2467de40951f | 350 | } |
NaotoMorita | 47:2467de40951f | 351 | void solaESKF::setQAccBias(float val) |
NaotoMorita | 47:2467de40951f | 352 | { |
NaotoMorita | 47:2467de40951f | 353 | setBlockDiag(Q,val,10,12); |
NaotoMorita | 47:2467de40951f | 354 | } |
NaotoMorita | 47:2467de40951f | 355 | void solaESKF::setQGyroBias(float val) |
NaotoMorita | 47:2467de40951f | 356 | { |
NaotoMorita | 47:2467de40951f | 357 | setBlockDiag(Q,val,13,15); |
NaotoMorita | 47:2467de40951f | 358 | } |
NaotoMorita | 56:c10f1168bd4a | 359 | void solaESKF::setQMagField(float val) |
NaotoMorita | 56:c10f1168bd4a | 360 | { |
NaotoMorita | 56:c10f1168bd4a | 361 | setBlockDiag(Q,val,19,19); |
NaotoMorita | 56:c10f1168bd4a | 362 | } |
NaotoMorita | 19:3fae66745363 | 363 | |
NaotoMorita | 19:3fae66745363 | 364 | |
NaotoMorita | 44:7d82e63b6a86 | 365 | void solaESKF::setDiag(Matrix& mat, float val){ |
NaotoMorita | 44:7d82e63b6a86 | 366 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 367 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 368 | } |
NaotoMorita | 22:7d84b8bc20b4 | 369 | } |
NaotoMorita | 22:7d84b8bc20b4 | 370 | |
NaotoMorita | 45:df4618814803 | 371 | void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){ |
NaotoMorita | 44:7d82e63b6a86 | 372 | for (int i = startIndex; i < endIndex+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 373 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 374 | } |
NaotoMorita | 22:7d84b8bc20b4 | 375 | } |
osaka | 51:a5af3b280d23 | 376 | |
osaka | 51:a5af3b280d23 | 377 | void solaESKF::setPihat(float pi_x, float pi_y, float pi_z) |
osaka | 51:a5af3b280d23 | 378 | { |
NaotoMorita | 56:c10f1168bd4a | 379 | pihat(1,1) = pi_x; |
NaotoMorita | 56:c10f1168bd4a | 380 | pihat(2,1) = pi_y; |
NaotoMorita | 56:c10f1168bd4a | 381 | pihat(3,1) = pi_z; |
NaotoMorita | 56:c10f1168bd4a | 382 | } |
NaotoMorita | 56:c10f1168bd4a | 383 | void solaESKF::setMagField(float hx, float hy, float hz) |
NaotoMorita | 56:c10f1168bd4a | 384 | { |
NaotoMorita | 56:c10f1168bd4a | 385 | magField(1,1) = -sqrt(hx*hx+hy*hy); |
NaotoMorita | 56:c10f1168bd4a | 386 | magField(2,1) = 0.0f; |
NaotoMorita | 56:c10f1168bd4a | 387 | magField(3,1) = 0.0f; |
NaotoMorita | 56:c10f1168bd4a | 388 | } |
NaotoMorita | 56:c10f1168bd4a | 389 | |
NaotoMorita | 56:c10f1168bd4a | 390 | /* |
NaotoMorita | 56:c10f1168bd4a | 391 | void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 392 | { |
NaotoMorita | 56:c10f1168bd4a | 393 | Matrix accm = acc - accBias; |
NaotoMorita | 56:c10f1168bd4a | 394 | Matrix tdcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 395 | computeDcm(tdcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 396 | tdcm = MatrixMath::Transpose(tdcm); |
NaotoMorita | 56:c10f1168bd4a | 397 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 398 | Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 399 | |
NaotoMorita | 56:c10f1168bd4a | 400 | Matrix H(4,nState); |
NaotoMorita | 56:c10f1168bd4a | 401 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 56:c10f1168bd4a | 402 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 403 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 404 | H(i,j+15) = tdcm(i,j); |
NaotoMorita | 56:c10f1168bd4a | 405 | } |
NaotoMorita | 56:c10f1168bd4a | 406 | } |
NaotoMorita | 56:c10f1168bd4a | 407 | H(1,10) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 408 | H(2,11) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 409 | H(3,12) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 410 | H(4,3) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 411 | |
NaotoMorita | 56:c10f1168bd4a | 412 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 413 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 414 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 415 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 416 | Matrix z(4,1); |
NaotoMorita | 56:c10f1168bd4a | 417 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1); |
NaotoMorita | 56:c10f1168bd4a | 418 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 419 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 420 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 421 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 422 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 423 | } |
NaotoMorita | 56:c10f1168bd4a | 424 | |
NaotoMorita | 56:c10f1168bd4a | 425 | void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 426 | { |
NaotoMorita | 56:c10f1168bd4a | 427 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 56:c10f1168bd4a | 428 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 429 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 430 | Matrix a2v = dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 431 | |
NaotoMorita | 56:c10f1168bd4a | 432 | Matrix H(2,nState); |
NaotoMorita | 56:c10f1168bd4a | 433 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 56:c10f1168bd4a | 434 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 435 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 436 | H(i,j+12) = -dcm(i,j); |
NaotoMorita | 56:c10f1168bd4a | 437 | } |
NaotoMorita | 56:c10f1168bd4a | 438 | } |
NaotoMorita | 56:c10f1168bd4a | 439 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 440 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 441 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 442 | |
NaotoMorita | 56:c10f1168bd4a | 443 | Matrix z3 = -dcm*gyrom; |
NaotoMorita | 56:c10f1168bd4a | 444 | Matrix z(2,1); |
NaotoMorita | 56:c10f1168bd4a | 445 | z << z3(1,1) << z3(2,1); |
NaotoMorita | 56:c10f1168bd4a | 446 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 447 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 448 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 449 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 450 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 451 | } |
NaotoMorita | 56:c10f1168bd4a | 452 | void solaESKF::updateMag(Matrix mag, Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 453 | { |
NaotoMorita | 56:c10f1168bd4a | 454 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 455 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 456 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 457 | |
NaotoMorita | 56:c10f1168bd4a | 458 | Matrix H(2,nState); |
NaotoMorita | 56:c10f1168bd4a | 459 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 56:c10f1168bd4a | 460 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 461 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 462 | } |
NaotoMorita | 56:c10f1168bd4a | 463 | } |
NaotoMorita | 56:c10f1168bd4a | 464 | H(1,19) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 465 | //H(3,20) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 466 | |
NaotoMorita | 56:c10f1168bd4a | 467 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 468 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 469 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 470 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 56:c10f1168bd4a | 471 | Matrix z(2,1); |
NaotoMorita | 56:c10f1168bd4a | 472 | z << zmag(1,1) << zmag(2,1); |
NaotoMorita | 56:c10f1168bd4a | 473 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 474 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 475 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 476 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 477 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 478 | } |
NaotoMorita | 56:c10f1168bd4a | 479 | |
NaotoMorita | 56:c10f1168bd4a | 480 | void solaESKF::updateGPSVelocity(Matrix velgps,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 481 | { |
NaotoMorita | 56:c10f1168bd4a | 482 | |
NaotoMorita | 56:c10f1168bd4a | 483 | Matrix H(3,nState); |
NaotoMorita | 56:c10f1168bd4a | 484 | H(1,4) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 485 | H(2,5) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 486 | H(3,6) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 487 | |
NaotoMorita | 56:c10f1168bd4a | 488 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 489 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 490 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 491 | Matrix z(3,1); |
NaotoMorita | 56:c10f1168bd4a | 492 | z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << velgps(3,1) - vihat(3,1); |
NaotoMorita | 56:c10f1168bd4a | 493 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 494 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 495 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 496 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 497 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 498 | } |
NaotoMorita | 56:c10f1168bd4a | 499 | |
NaotoMorita | 56:c10f1168bd4a | 500 | void solaESKF::updateGPSPosition(Matrix posgps,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 501 | { |
NaotoMorita | 56:c10f1168bd4a | 502 | Matrix H(2,nState); |
NaotoMorita | 56:c10f1168bd4a | 503 | H(1,1) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 504 | H(2,2) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 505 | //H(3,3) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 506 | |
NaotoMorita | 56:c10f1168bd4a | 507 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 508 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 509 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 510 | Matrix z(2,1); |
NaotoMorita | 56:c10f1168bd4a | 511 | z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1); //<< posgps(3,1) - pihat(3,1); |
NaotoMorita | 56:c10f1168bd4a | 512 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 513 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 514 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 515 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 516 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 517 | } |
NaotoMorita | 56:c10f1168bd4a | 518 | */ |