HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

ScErrStateEKF.cpp@43:cbc2c2d65131, 2021-10-25 (annotated)

Committer:
NaotoMorita
Date:
Mon Oct 25 05:39:20 2021 +0000
Revision:
43:cbc2c2d65131
Parent:
40:119792aa6d3b 
12state only gps

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 19:3fae66745363 1 #include "ScErrStateEKF.hpp"
NaotoMorita 19:3fae66745363 2 #include "Matrix.h"
NaotoMorita 19:3fae66745363 3 #include "MatrixMath.h"
NaotoMorita 19:3fae66745363 4 #include <cmath>
NaotoMorita 19:3fae66745363 5 #include "Vector3.hpp"
NaotoMorita 19:3fae66745363 6
NaotoMorita 19:3fae66745363 7
NaotoMorita 19:3fae66745363 8 using namespace std;
NaotoMorita 19:3fae66745363 9
NaotoMorita 19:3fae66745363 10 ScErrStateEKF::ScErrStateEKF()
NaotoMorita 43:cbc2c2d65131 11 :qhat(4,1),vihat(3,1), errState(12,1),accned(3,1), Phat(12,12), Q(12,12),Ra(3,3), Rgps(3,3),Rsr(1,1), Rm(3,3), Qab(3,3),Rgsc(2,2),Rvsc(2,2),accBias(0.0f,0.0f,0.0f),gyroBias(0.0f,0.0f,0.0f)
NaotoMorita 19:3fae66745363 12 {
NaotoMorita 21:d6079def0473 13 nState = errState.getRows();
NaotoMorita 19:3fae66745363 14 qhat << 1.0f << 0.0f << 0.0f << 0.0f;
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 Phat(7,7) = 1.0;
osaka 39:6834e05d8a64 26 Phat(8,8) = 1.0;
osaka 39:6834e05d8a64 27 Phat(9,9) = 1.0;
NaotoMorita 43:cbc2c2d65131 28 Phat(10,10) = 1.0;
NaotoMorita 43:cbc2c2d65131 29 Phat(11,11) = 1.0;
NaotoMorita 43:cbc2c2d65131 30 Phat(12,12) = 1.0;
osaka 39:6834e05d8a64 31 setQqerr(0.001f);
osaka 39:6834e05d8a64 32 setQgbias(0.0001f);
osaka 39:6834e05d8a64 33 setQabias(1.0f);
NaotoMorita 43:cbc2c2d65131 34 setQv(1.0f);
NaotoMorita 19:3fae66745363 35
NaotoMorita 20:37d3c3ee36e9 36 //加速度の観測
osaka 39:6834e05d8a64 37 setDiag(Ra,0.1f);
osaka 39:6834e05d8a64 38 setDiag(Qab,1.5f);
NaotoMorita 20:37d3c3ee36e9 39
NaotoMorita 20:37d3c3ee36e9 40 //ジャイロバイアスに関する制約
osaka 39:6834e05d8a64 41 setDiag(Rgsc,500.0f);
NaotoMorita 20:37d3c3ee36e9 42
NaotoMorita 34:dec4b37db3f1 43 //地磁気（未使用）
NaotoMorita 21:d6079def0473 44 setDiag(Rm,5.0f);
NaotoMorita 19:3fae66745363 45
NaotoMorita 34:dec4b37db3f1 46 //GPS
NaotoMorita 43:cbc2c2d65131 47 setDiag(Rgps,10.0f);
NaotoMorita 34:dec4b37db3f1 48 //降下速度
osaka 39:6834e05d8a64 49 setDiag(Rsr,0.001f);
NaotoMorita 26:73c3f58b9d70 50
NaotoMorita 19:3fae66745363 51 for(int i = 0; i<10;i++){
NaotoMorita 19:3fae66745363 52 histffunc[i] = 0.0f;
NaotoMorita 19:3fae66745363 53 }
NaotoMorita 19:3fae66745363 54 histffuncindex = 0 ;
NaotoMorita 19:3fae66745363 55 sigma2a = 0.000020f;
NaotoMorita 19:3fae66745363 56
NaotoMorita 19:3fae66745363 57
NaotoMorita 19:3fae66745363 58 }
NaotoMorita 19:3fae66745363 59
NaotoMorita 23:1509648c2318 60 void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt)
NaotoMorita 19:3fae66745363 61 {
NaotoMorita 19:3fae66745363 62 gyro -= gyroBias;
NaotoMorita 43:cbc2c2d65131 63 //acc -= accBias;
NaotoMorita 19:3fae66745363 64 Matrix A(4,4);
NaotoMorita 19:3fae66745363 65 A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z
NaotoMorita 19:3fae66745363 66 << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y
NaotoMorita 19:3fae66745363 67 << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x
NaotoMorita 19:3fae66745363 68 << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ;
NaotoMorita 19:3fae66745363 69
NaotoMorita 20:37d3c3ee36e9 70 Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 19:3fae66745363 71 qhat = phi * qhat;
NaotoMorita 19:3fae66745363 72 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 73 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 74
NaotoMorita 23:1509648c2318 75 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 76 computeDcm(dcm, qhat);
NaotoMorita 43:cbc2c2d65131 77 accned = (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref));
NaotoMorita 43:cbc2c2d65131 78 vihat += accned*att_dt*9.8f;
NaotoMorita 19:3fae66745363 79 }
NaotoMorita 19:3fae66745363 80
NaotoMorita 23:1509648c2318 81 void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt)
NaotoMorita 23:1509648c2318 82 {
NaotoMorita 23:1509648c2318 83 gyro -= gyroBias;
NaotoMorita 43:cbc2c2d65131 84 //acc -= accBias;
NaotoMorita 23:1509648c2318 85 Matrix A(nState,nState);
NaotoMorita 23:1509648c2318 86 A(1,2) = gyro.z;
NaotoMorita 23:1509648c2318 87 A(1,3) = -gyro.y;
NaotoMorita 23:1509648c2318 88 A(2,1) = -gyro.z;
NaotoMorita 23:1509648c2318 89 A(2,3) = gyro.x;
NaotoMorita 23:1509648c2318 90 A(3,1) = gyro.y;
NaotoMorita 23:1509648c2318 91 A(3,2) = -gyro.x;
osaka 38:1f6532849c05 92 A(1,4) = -0.5f;
osaka 38:1f6532849c05 93 A(2,5) = -0.5f;
osaka 38:1f6532849c05 94 A(3,6) = -0.5f;
NaotoMorita 23:1509648c2318 95
NaotoMorita 23:1509648c2318 96 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 97 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 98 Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z);
NaotoMorita 43:cbc2c2d65131 99 //Matrix baterm = -9.8f*MatrixMath::Transpose(dcm);
NaotoMorita 23:1509648c2318 100 for (int i = 1; i < 4; i++){
NaotoMorita 23:1509648c2318 101 for (int j = 1; i < 4; i++){
osaka 38:1f6532849c05 102 A(i+9,j) = qeterm(i,j);
NaotoMorita 43:cbc2c2d65131 103 //A(i+9,j+6) = baterm(i,j);
NaotoMorita 23:1509648c2318 104 }
NaotoMorita 23:1509648c2318 105 }
NaotoMorita 23:1509648c2318 106
NaotoMorita 23:1509648c2318 107 Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 23:1509648c2318 108 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 109 errState = phi * errState;
NaotoMorita 23:1509648c2318 110 Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd;
NaotoMorita 23:1509648c2318 111 }
NaotoMorita 20:37d3c3ee36e9 112 void ScErrStateEKF::setQqerr(float val){
NaotoMorita 20:37d3c3ee36e9 113 Q(1,1) = val;
NaotoMorita 20:37d3c3ee36e9 114 Q(2,2) = val;
NaotoMorita 20:37d3c3ee36e9 115 Q(3,3) = val;
NaotoMorita 20:37d3c3ee36e9 116 }
NaotoMorita 20:37d3c3ee36e9 117
NaotoMorita 20:37d3c3ee36e9 118 void ScErrStateEKF::setQgbias(float val){
NaotoMorita 20:37d3c3ee36e9 119 Q(4,4) = val;
NaotoMorita 20:37d3c3ee36e9 120 Q(5,5) = val;
NaotoMorita 20:37d3c3ee36e9 121 Q(6,6) = val;
NaotoMorita 20:37d3c3ee36e9 122 }
osaka 38:1f6532849c05 123 void ScErrStateEKF::setQabias(float val){
NaotoMorita 20:37d3c3ee36e9 124 Q(7,7) = val;
NaotoMorita 20:37d3c3ee36e9 125 Q(8,8) = val;
NaotoMorita 20:37d3c3ee36e9 126 Q(9,9) = val;
NaotoMorita 20:37d3c3ee36e9 127 }
osaka 38:1f6532849c05 128 void ScErrStateEKF::setQv(float val){
osaka 38:1f6532849c05 129 Q(10,10) = val;
osaka 38:1f6532849c05 130 Q(11,11) = val;
osaka 38:1f6532849c05 131 Q(12,12) = val;
osaka 38:1f6532849c05 132 }
NaotoMorita 21:d6079def0473 133
NaotoMorita 20:37d3c3ee36e9 134 void ScErrStateEKF::setQab(float val){
NaotoMorita 21:d6079def0473 135 setDiag(Qab,val);
NaotoMorita 20:37d3c3ee36e9 136 }
NaotoMorita 20:37d3c3ee36e9 137
NaotoMorita 23:1509648c2318 138
NaotoMorita 20:37d3c3ee36e9 139 void ScErrStateEKF::setRsoftconst(float Vgsc,float Vvsc){
NaotoMorita 21:d6079def0473 140 setDiag(Rgsc,Vgsc);
NaotoMorita 23:1509648c2318 141 setDiag(Rvsc,Vvsc);
NaotoMorita 20:37d3c3ee36e9 142 }
NaotoMorita 20:37d3c3ee36e9 143
NaotoMorita 21:d6079def0473 144 void ScErrStateEKF::setDiag(Matrix& mat, float val){
NaotoMorita 21:d6079def0473 145 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 21:d6079def0473 146 mat(i,i) = val;
NaotoMorita 21:d6079def0473 147 }
NaotoMorita 21:d6079def0473 148 }
NaotoMorita 20:37d3c3ee36e9 149
NaotoMorita 25:07ac5c6cd61c 150 void ScErrStateEKF::getQhat(float (&res)[4]){
NaotoMorita 25:07ac5c6cd61c 151 for (int i = 0; i < 4; i++){
NaotoMorita 25:07ac5c6cd61c 152 res[i] = qhat(i+1,1);
NaotoMorita 25:07ac5c6cd61c 153 }
NaotoMorita 25:07ac5c6cd61c 154 }
NaotoMorita 25:07ac5c6cd61c 155
NaotoMorita 25:07ac5c6cd61c 156 void ScErrStateEKF::getVihat(float (&res)[3]){
NaotoMorita 25:07ac5c6cd61c 157 for (int i = 0; i < 3; i++){
NaotoMorita 25:07ac5c6cd61c 158 res[i] = vihat(i+1,1);
NaotoMorita 25:07ac5c6cd61c 159 }
NaotoMorita 25:07ac5c6cd61c 160 }
NaotoMorita 25:07ac5c6cd61c 161
NaotoMorita 25:07ac5c6cd61c 162 void ScErrStateEKF::getGyroBias(float (&resVal)[3], float (&resCov)[6]){
NaotoMorita 25:07ac5c6cd61c 163 resVal[0] = gyroBias.x;
NaotoMorita 25:07ac5c6cd61c 164 resVal[1] = gyroBias.y;
NaotoMorita 25:07ac5c6cd61c 165 resVal[2] = gyroBias.z;
osaka 38:1f6532849c05 166 resCov[0] = Phat(4,4);
osaka 38:1f6532849c05 167 resCov[1] = Phat(4,5);
osaka 38:1f6532849c05 168 resCov[2] = Phat(4,6);
osaka 38:1f6532849c05 169 resCov[3] = Phat(5,5);
osaka 38:1f6532849c05 170 resCov[4] = Phat(5,6);
osaka 38:1f6532849c05 171 resCov[5] = Phat(6,6);
NaotoMorita 25:07ac5c6cd61c 172
NaotoMorita 25:07ac5c6cd61c 173 }
NaotoMorita 25:07ac5c6cd61c 174
NaotoMorita 25:07ac5c6cd61c 175 void ScErrStateEKF::getAccBias(float (&resVal)[3], float (&resCov)[6]){
NaotoMorita 25:07ac5c6cd61c 176 resVal[0] = accBias.x;
NaotoMorita 25:07ac5c6cd61c 177 resVal[1] = accBias.y;
NaotoMorita 25:07ac5c6cd61c 178 resVal[2] = accBias.z;
osaka 38:1f6532849c05 179 resCov[0] = Phat(7,7);
osaka 38:1f6532849c05 180 resCov[1] = Phat(7,8);
osaka 38:1f6532849c05 181 resCov[2] = Phat(7,9);
osaka 38:1f6532849c05 182 resCov[3] = Phat(8,8);
osaka 38:1f6532849c05 183 resCov[4] = Phat(8,9);
osaka 38:1f6532849c05 184 resCov[5] = Phat(9,9);
NaotoMorita 25:07ac5c6cd61c 185
NaotoMorita 25:07ac5c6cd61c 186 }
NaotoMorita 25:07ac5c6cd61c 187
NaotoMorita 19:3fae66745363 188
NaotoMorita 19:3fae66745363 189 void ScErrStateEKF::updateAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 190 {
NaotoMorita 21:d6079def0473 191 acc -= accBias;
NaotoMorita 20:37d3c3ee36e9 192 Matrix dcm(3,3);
NaotoMorita 20:37d3c3ee36e9 193 computeDcm(dcm, qhat);
NaotoMorita 20:37d3c3ee36e9 194 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 21:d6079def0473 195 Matrix H(3,nState);
NaotoMorita 20:37d3c3ee36e9 196 H(1,2) = -2.0f*gvec.z;
NaotoMorita 20:37d3c3ee36e9 197 H(1,3) = 2.0f*gvec.y;
NaotoMorita 20:37d3c3ee36e9 198 H(2,1) = 2.0f*gvec.z;
NaotoMorita 20:37d3c3ee36e9 199 H(2,3) = -2.0f*gvec.x;
NaotoMorita 20:37d3c3ee36e9 200 H(3,1) = -2.0f*gvec.y;
NaotoMorita 20:37d3c3ee36e9 201 H(3,2) = 2.0f*gvec.x;
osaka 38:1f6532849c05 202 H(1,7) = 1.0f;
osaka 38:1f6532849c05 203 H(2,8) = 1.0f;
osaka 38:1f6532849c05 204 H(3,9) = 1.0f;
NaotoMorita 20:37d3c3ee36e9 205 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra+Qab);
NaotoMorita 21:d6079def0473 206 Matrix z = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 20:37d3c3ee36e9 207 Matrix corrVal = K * (z-H*errState);
NaotoMorita 20:37d3c3ee36e9 208 errState = errState + corrVal;
NaotoMorita 21:d6079def0473 209 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra+Qab)*MatrixMath::Transpose(K);
NaotoMorita 20:37d3c3ee36e9 210 }
NaotoMorita 20:37d3c3ee36e9 211
NaotoMorita 20:37d3c3ee36e9 212 void ScErrStateEKF::updateGyroBiasConstraints(Vector3 gyro)
NaotoMorita 20:37d3c3ee36e9 213 {
NaotoMorita 21:d6079def0473 214 gyro -= gyroBias;
NaotoMorita 23:1509648c2318 215 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 216 computeDcm(dcm, qhat);
osaka 38:1f6532849c05 217 Matrix H(2,nState);
osaka 38:1f6532849c05 218 H(1,4) = 1.0f*(dcm(1,1));
osaka 38:1f6532849c05 219 H(1,5) = 1.0f*(dcm(2,1));
osaka 38:1f6532849c05 220 H(1,6) = 1.0f*(dcm(3,1));
osaka 38:1f6532849c05 221 H(2,4) = 1.0f*(dcm(1,2));
osaka 38:1f6532849c05 222 H(2,5) = 1.0f*(dcm(2,2));
osaka 38:1f6532849c05 223 H(2,6) = 1.0f*(dcm(3,2));
NaotoMorita 23:1509648c2318 224
osaka 38:1f6532849c05 225 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rgsc);
NaotoMorita 31:e655d4d8e4d6 226 Matrix z(2,1);
NaotoMorita 31:e655d4d8e4d6 227 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 228 Matrix corrVal = K * (z-H*errState);
osaka 38:1f6532849c05 229 errState = errState + corrVal;
osaka 38:1f6532849c05 230 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rgsc)*MatrixMath::Transpose(K);
NaotoMorita 23:1509648c2318 231 }
NaotoMorita 23:1509648c2318 232
NaotoMorita 23:1509648c2318 233
NaotoMorita 19:3fae66745363 234 void ScErrStateEKF::updateStaticAccMeasures(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 235 {
NaotoMorita 19:3fae66745363 236 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 237 computeDcm(dcm, qhat);
NaotoMorita 19:3fae66745363 238 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 21:d6079def0473 239 Matrix H(3,nState);
NaotoMorita 19:3fae66745363 240 H(1,2) = -2.0f*gvec.z;
NaotoMorita 19:3fae66745363 241 H(1,3) = 2.0f*gvec.y;
NaotoMorita 19:3fae66745363 242 H(2,1) = 2.0f*gvec.z;
NaotoMorita 19:3fae66745363 243 H(2,3) = -2.0f*gvec.x;
NaotoMorita 19:3fae66745363 244 H(3,1) = -2.0f*gvec.y;
NaotoMorita 19:3fae66745363 245 H(3,2) = 2.0f*gvec.x;
NaotoMorita 19:3fae66745363 246 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Ra*100.0f);
NaotoMorita 19:3fae66745363 247 Matrix accmat(3,1);
NaotoMorita 19:3fae66745363 248 accmat << acc.x << acc.y << acc.z;
NaotoMorita 19:3fae66745363 249 Matrix gref(3,1);
NaotoMorita 19:3fae66745363 250 gref << 0.0f << 0.0f << accref.z;
NaotoMorita 19:3fae66745363 251 Matrix z = accmat-dcm*gref;
NaotoMorita 19:3fae66745363 252 errState = errState + K * (z-H*errState);
NaotoMorita 21:d6079def0473 253 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Ra*100.0f)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 254 }
NaotoMorita 19:3fae66745363 255
NaotoMorita 32:321a756e12ad 256 void ScErrStateEKF::updateGPSVelocity(float vi_x, float vi_y, float sinkRate,Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 257 {
osaka 40:119792aa6d3b 258
NaotoMorita 43:cbc2c2d65131 259 Matrix H(3,nState);
NaotoMorita 43:cbc2c2d65131 260 H(1,10) = 1.0f;
NaotoMorita 43:cbc2c2d65131 261 H(2,11) = 1.0f;
NaotoMorita 43:cbc2c2d65131 262 H(3,12) = 1.0f;
NaotoMorita 43:cbc2c2d65131 263
osaka 40:119792aa6d3b 264 Matrix R(3,3);
osaka 40:119792aa6d3b 265 R(1,1) = Rgps(1,1);
osaka 40:119792aa6d3b 266 R(2,2) = Rgps(2,2);
NaotoMorita 43:cbc2c2d65131 267 R(3,3) = Rgps(3,3);
osaka 40:119792aa6d3b 268
NaotoMorita 31:e655d4d8e4d6 269 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 43:cbc2c2d65131 270 Matrix z(3,1);
NaotoMorita 43:cbc2c2d65131 271 z << vi_x - vihat(1,1) << vi_y-vihat(2,1) << sinkRate - vihat(3,1);
osaka 40:119792aa6d3b 272 //z << vi_x - vihat(1,1) << vi_y-vihat(2,1) << sinkRate - vihat(3,1);
NaotoMorita 26:73c3f58b9d70 273 Matrix corrVal = K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 274 errState = errState + corrVal;
NaotoMorita 31:e655d4d8e4d6 275 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 19:3fae66745363 276 }
NaotoMorita 19:3fae66745363 277
NaotoMorita 31:e655d4d8e4d6 278 void ScErrStateEKF::updateSinkRate(float sinkRate,Vector3 acc, Vector3 accref)
NaotoMorita 30:ff884e9b2e30 279 {
NaotoMorita 31:e655d4d8e4d6 280 acc -= accBias;
NaotoMorita 31:e655d4d8e4d6 281 Matrix dcm(3,3);
NaotoMorita 31:e655d4d8e4d6 282 computeDcm(dcm, qhat);
NaotoMorita 31:e655d4d8e4d6 283 Vector3 gvec(dcm(1,3)*accref.z, dcm(2,3)*accref.z, dcm(3,3)*accref.z);
NaotoMorita 31:e655d4d8e4d6 284 Matrix H(4,nState);
NaotoMorita 31:e655d4d8e4d6 285 H(1,2) = -2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 286 H(1,3) = 2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 287 H(2,1) = 2.0f*gvec.z;
NaotoMorita 31:e655d4d8e4d6 288 H(2,3) = -2.0f*gvec.x;
NaotoMorita 31:e655d4d8e4d6 289 H(3,1) = -2.0f*gvec.y;
NaotoMorita 31:e655d4d8e4d6 290 H(3,2) = 2.0f*gvec.x;
osaka 38:1f6532849c05 291 H(1,7) = 1.0f;
osaka 38:1f6532849c05 292 H(2,8) = 1.0f;
osaka 38:1f6532849c05 293 H(3,9) = 1.0f;
osaka 38:1f6532849c05 294 H(4,12) = 1.0f;
NaotoMorita 31:e655d4d8e4d6 295
NaotoMorita 31:e655d4d8e4d6 296 Matrix R(4,4);
NaotoMorita 31:e655d4d8e4d6 297 R(1,1) = Ra(1,1)+Qab(1,1);
NaotoMorita 31:e655d4d8e4d6 298 R(2,2) = Ra(2,2)+Qab(2,2);
NaotoMorita 31:e655d4d8e4d6 299 R(3,3) = Ra(3,3)+Qab(3,3);
NaotoMorita 31:e655d4d8e4d6 300 R(4,4) = Rsr(1,1);
osaka 40:119792aa6d3b 301 /*
osaka 40:119792aa6d3b 302 R(1,1) = 0.0001f;
osaka 40:119792aa6d3b 303 R(2,2) = 0.0001f;
osaka 40:119792aa6d3b 304 R(3,3) = 0.0001f;
osaka 40:119792aa6d3b 305 */
NaotoMorita 31:e655d4d8e4d6 306 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 31:e655d4d8e4d6 307 Matrix zacc = MatrixMath::Vector2mat(acc)-dcm*MatrixMath::Vector2mat(accref);
NaotoMorita 31:e655d4d8e4d6 308 Matrix z(4,1);
NaotoMorita 31:e655d4d8e4d6 309 z << zacc(1,1)<< zacc(2,1)<< zacc(3,1) << sinkRate - vihat(3,1);
NaotoMorita 30:ff884e9b2e30 310 Matrix corrVal = K * (z-H*errState);
NaotoMorita 30:ff884e9b2e30 311 errState = errState + corrVal;
NaotoMorita 31:e655d4d8e4d6 312 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 30:ff884e9b2e30 313 }
NaotoMorita 30:ff884e9b2e30 314
NaotoMorita 25:07ac5c6cd61c 315 void ScErrStateEKF::updateCenteredGyroBiasCorrection(float (&cBg)[3])
NaotoMorita 25:07ac5c6cd61c 316 {
NaotoMorita 25:07ac5c6cd61c 317
NaotoMorita 25:07ac5c6cd61c 318 Matrix RgyroBias(3,3);
NaotoMorita 25:07ac5c6cd61c 319 for(int i = 1;i<4;i++){
NaotoMorita 25:07ac5c6cd61c 320 RgyroBias(i,i) = 0.1f;
NaotoMorita 25:07ac5c6cd61c 321 }
NaotoMorita 25:07ac5c6cd61c 322
osaka 38:1f6532849c05 323 Matrix H(3,nState);
osaka 38:1f6532849c05 324 H(1,4) = 1.0f;
osaka 38:1f6532849c05 325 H(2,5) = 1.0f;
osaka 38:1f6532849c05 326 H(3,6) = 1.0f;
NaotoMorita 25:07ac5c6cd61c 327
osaka 38:1f6532849c05 328 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+RgyroBias);
NaotoMorita 25:07ac5c6cd61c 329 Matrix z(3,1);
NaotoMorita 25:07ac5c6cd61c 330 z <<cBg[0]-gyroBias.x <<cBg[1]-gyroBias.y <<cBg[2]-gyroBias.z;
osaka 38:1f6532849c05 331 Matrix corrVal = K * (z-H*errState);
osaka 38:1f6532849c05 332 errState = errState + corrVal;
osaka 38:1f6532849c05 333 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(RgyroBias)*MatrixMath::Transpose(K);
NaotoMorita 25:07ac5c6cd61c 334
NaotoMorita 25:07ac5c6cd61c 335 }
NaotoMorita 25:07ac5c6cd61c 336
NaotoMorita 19:3fae66745363 337 void ScErrStateEKF::resetBias()
NaotoMorita 19:3fae66745363 338 {
osaka 38:1f6532849c05 339 gyroBias.x = gyroBias.x + errState(4,1)*1.0f;
osaka 38:1f6532849c05 340 gyroBias.y = gyroBias.y + errState(5,1)*1.0f;
osaka 38:1f6532849c05 341 gyroBias.z = gyroBias.z + errState(6,1)*1.0f;
NaotoMorita 19:3fae66745363 342 errState(4,1) = 0.0f;
NaotoMorita 19:3fae66745363 343 errState(5,1) = 0.0f;
NaotoMorita 19:3fae66745363 344 errState(6,1) = 0.0f;
osaka 38:1f6532849c05 345 accBias.x = accBias.x + errState(7,1);
osaka 38:1f6532849c05 346 accBias.y = accBias.y + errState(8,1);
osaka 38:1f6532849c05 347 accBias.z = accBias.z + errState(9,1);
osaka 38:1f6532849c05 348 errState(7,1) = 0.0f;
osaka 38:1f6532849c05 349 errState(8,1) = 0.0f;
osaka 38:1f6532849c05 350 errState(9,1) = 0.0f;
NaotoMorita 19:3fae66745363 351 }
NaotoMorita 19:3fae66745363 352
NaotoMorita 19:3fae66745363 353 void ScErrStateEKF::computeAngles(Vector3& rpy,Vector3 rpy_align)
NaotoMorita 19:3fae66745363 354 {
NaotoMorita 19:3fae66745363 355 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 356 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 357 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 358 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 359 Matrix qest = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 360 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qest),qest));
NaotoMorita 19:3fae66745363 361 qest *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 362 float q0 = qest( 1, 1 );
NaotoMorita 19:3fae66745363 363 float q1 = qest( 2, 1 );
NaotoMorita 19:3fae66745363 364 float q2 = qest( 3, 1 );
NaotoMorita 19:3fae66745363 365 float q3 = qest( 4, 1 );
NaotoMorita 19:3fae66745363 366 rpy.x = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-rpy_align.x;
NaotoMorita 19:3fae66745363 367 rpy.y = asinf(-2.0f * (q1*q3 - q0*q2))-rpy_align.y;
NaotoMorita 19:3fae66745363 368 rpy.z = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 19:3fae66745363 369
NaotoMorita 19:3fae66745363 370 }
NaotoMorita 19:3fae66745363 371
NaotoMorita 21:d6079def0473 372
NaotoMorita 21:d6079def0473 373 void ScErrStateEKF::fuseErr2Nominal()
NaotoMorita 19:3fae66745363 374 {
NaotoMorita 19:3fae66745363 375 Matrix qerr(4,1);
NaotoMorita 19:3fae66745363 376 qerr << 1.0f << errState(1,1) << errState(2,1) << errState(3,1);
NaotoMorita 19:3fae66745363 377 //float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qerr),qerr));
NaotoMorita 19:3fae66745363 378 //qerr *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 379 qhat = quatmultiply(qhat, qerr);
NaotoMorita 19:3fae66745363 380 errState(1,1) = 0.0f;
NaotoMorita 19:3fae66745363 381 errState(2,1) = 0.0f;
NaotoMorita 19:3fae66745363 382 errState(3,1) = 0.0f;
NaotoMorita 19:3fae66745363 383 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 19:3fae66745363 384 qhat *= (1.0f/ qnorm);
NaotoMorita 23:1509648c2318 385
osaka 38:1f6532849c05 386 vihat(1,1) += errState(10,1);
osaka 38:1f6532849c05 387 vihat(2,1) += errState(11,1);
osaka 38:1f6532849c05 388 vihat(3,1) += errState(12,1);
osaka 38:1f6532849c05 389 errState(10,1) = 0.0f;
osaka 38:1f6532849c05 390 errState(11,1) = 0.0f;
osaka 38:1f6532849c05 391 errState(12,1) = 0.0f;
NaotoMorita 19:3fae66745363 392 }
NaotoMorita 19:3fae66745363 393
NaotoMorita 19:3fae66745363 394 Matrix ScErrStateEKF::quatmultiply(Matrix q, Matrix r)
NaotoMorita 19:3fae66745363 395 {
NaotoMorita 19:3fae66745363 396 Matrix qout(4,1);
NaotoMorita 19:3fae66745363 397 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 398 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 399 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 400 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 401 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout));
NaotoMorita 19:3fae66745363 402 qout *= (1.0f/ qnorm);
NaotoMorita 19:3fae66745363 403 return qout;
NaotoMorita 19:3fae66745363 404 }
NaotoMorita 19:3fae66745363 405
NaotoMorita 19:3fae66745363 406 void ScErrStateEKF::computeDcm(Matrix& dcm, Matrix quat)
NaotoMorita 19:3fae66745363 407 {
NaotoMorita 19:3fae66745363 408
NaotoMorita 19:3fae66745363 409 float q0 = quat( 1, 1 );
NaotoMorita 19:3fae66745363 410 float q1 = quat( 2, 1 );
NaotoMorita 19:3fae66745363 411 float q2 = quat( 3, 1 );
NaotoMorita 19:3fae66745363 412 float q3 = quat( 4, 1 );
NaotoMorita 19:3fae66745363 413
NaotoMorita 19:3fae66745363 414 dcm(1,1) = q0*q0 + q1*q1 - q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 415 dcm(1,2) = 2*(q1*q2 + q0*q3);
NaotoMorita 19:3fae66745363 416 dcm(1,3) = 2*(q1*q3 - q0*q2);
NaotoMorita 19:3fae66745363 417 dcm(2,1) = 2*(q1*q2 - q0*q3);
NaotoMorita 19:3fae66745363 418 dcm(2,2) = q0*q0 - q1*q1 + q2*q2 - q3*q3;
NaotoMorita 19:3fae66745363 419 dcm(2,3) = 2*(q2*q3 + q0*q1);
NaotoMorita 19:3fae66745363 420 dcm(3,1) = 2*(q1*q3 + q0*q2);
NaotoMorita 19:3fae66745363 421 dcm(3,2) = 2*(q2*q3 - q0*q1);
NaotoMorita 19:3fae66745363 422 dcm(3,3) = q0*q0 - q1*q1 - q2*q2 + q3*q3;
NaotoMorita 19:3fae66745363 423
NaotoMorita 19:3fae66745363 424 }
NaotoMorita 19:3fae66745363 425
NaotoMorita 19:3fae66745363 426 void ScErrStateEKF::defineQhat(Vector3 align){
NaotoMorita 19:3fae66745363 427 float cos_z_2 = cosf(0.5f*align.z);
NaotoMorita 19:3fae66745363 428 float cos_y_2 = cosf(0.5f*align.y);
NaotoMorita 19:3fae66745363 429 float cos_x_2 = cosf(0.5f*align.x);
NaotoMorita 19:3fae66745363 430
NaotoMorita 19:3fae66745363 431 float sin_z_2 = sinf(0.5f*align.z);
NaotoMorita 19:3fae66745363 432 float sin_y_2 = sinf(0.5f*align.y);
NaotoMorita 19:3fae66745363 433 float sin_x_2 = sinf(0.5f*align.x);
NaotoMorita 19:3fae66745363 434
NaotoMorita 19:3fae66745363 435 // and now compute quaternion
NaotoMorita 19:3fae66745363 436 qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 437 qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2;
NaotoMorita 19:3fae66745363 438 qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 439 qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2;
NaotoMorita 19:3fae66745363 440 }
NaotoMorita 19:3fae66745363 441
NaotoMorita 23:1509648c2318 442 void ScErrStateEKF::computeVb(Vector3& vb)
NaotoMorita 23:1509648c2318 443 {
NaotoMorita 23:1509648c2318 444 Matrix dcm(3,3);
NaotoMorita 23:1509648c2318 445 computeDcm(dcm, qhat);
NaotoMorita 23:1509648c2318 446 Matrix vbmat = dcm*vihat;
NaotoMorita 23:1509648c2318 447 vb.x = vbmat(1,1);
NaotoMorita 23:1509648c2318 448 vb.y = vbmat(2,1);
NaotoMorita 23:1509648c2318 449 vb.z = vbmat(3,1);
NaotoMorita 23:1509648c2318 450
NaotoMorita 23:1509648c2318 451 }
NaotoMorita 23:1509648c2318 452
NaotoMorita 19:3fae66745363 453
NaotoMorita 19:3fae66745363 454
NaotoMorita 19:3fae66745363 455 Vector3 ScErrStateEKF::calcDynAcc(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 456 {
NaotoMorita 19:3fae66745363 457 Matrix dcm(3,3);
NaotoMorita 19:3fae66745363 458 computeDcm(dcm, qhat);
NaotoMorita 43:cbc2c2d65131 459 dcm = MatrixMath::Transpose(dcm);
NaotoMorita 19:3fae66745363 460 float _x, _y, _z;
NaotoMorita 19:3fae66745363 461 _x = acc.x-(dcm( 1, 1 )*accref.x+dcm( 1, 2 )*accref.y+dcm( 1, 3 )*accref.z);
NaotoMorita 19:3fae66745363 462 _y = acc.y-(dcm( 2, 1 )*accref.x+dcm( 2, 2 )*accref.y+dcm( 2, 3 )*accref.z);
NaotoMorita 19:3fae66745363 463 _z = acc.z-(dcm( 3, 1 )*accref.x+dcm( 3, 2 )*accref.y+dcm( 3, 3 )*accref.z);
NaotoMorita 19:3fae66745363 464 return Vector3(_x, _y, _z);
NaotoMorita 19:3fae66745363 465 }
NaotoMorita 19:3fae66745363 466
NaotoMorita 19:3fae66745363 467
NaotoMorita 19:3fae66745363 468 bool ScErrStateEKF::determinDynStatus(Vector3 acc, Vector3 accref)
NaotoMorita 19:3fae66745363 469 {
NaotoMorita 19:3fae66745363 470 histffunc[histffuncindex] = acc.Norm()*acc.Norm()-accref.Norm()*accref.Norm()-3.0f*sigma2a;
NaotoMorita 19:3fae66745363 471 if(histffuncindex<9){
NaotoMorita 19:3fae66745363 472 histffuncindex += 1;
NaotoMorita 19:3fae66745363 473 }else{
NaotoMorita 19:3fae66745363 474 histffuncindex =0;
NaotoMorita 19:3fae66745363 475 }
NaotoMorita 19:3fae66745363 476 aveffunc = 0;
NaotoMorita 19:3fae66745363 477 for(int i = 1;i<10;i++){
NaotoMorita 19:3fae66745363 478 aveffunc += 1.0f/10.0f*histffunc[i];
NaotoMorita 19:3fae66745363 479 }
NaotoMorita 19:3fae66745363 480 sigma2f = 1.0f/10.0f*(6.0f*sigma2a*sigma2a+4.0f*accref.Norm()*accref.Norm()*sigma2a);
NaotoMorita 19:3fae66745363 481
NaotoMorita 19:3fae66745363 482
NaotoMorita 19:3fae66745363 483 dynacc = calcDynAcc(acc,accref);
NaotoMorita 19:3fae66745363 484 bool dynCase = true;
NaotoMorita 19:3fae66745363 485 if((dynacc.Norm()<0.005f) && (abs(acc.Norm()-accref.Norm())<0.005f)){dynCase = false;}
NaotoMorita 19:3fae66745363 486 if(aveffunc<sqrt(sigma2f/0.99f) && abs(acc.Norm()-accref.Norm())<0.001f){dynCase = false;}
NaotoMorita 19:3fae66745363 487 return dynCase;
NaotoMorita 19:3fae66745363 488
NaotoMorita 19:3fae66745363 489 }
NaotoMorita 19:3fae66745363 490
NaotoMorita 22:7d84b8bc20b4 491 /*
NaotoMorita 22:7d84b8bc20b4 492 void ScErrStateEKF::updateNominal(Vector3 gyro, Vector3 acc, Vector3 accref, float att_dt)
NaotoMorita 22:7d84b8bc20b4 493 {
NaotoMorita 22:7d84b8bc20b4 494 gyro -= gyroBias;
NaotoMorita 22:7d84b8bc20b4 495 acc -= accBias;
NaotoMorita 22:7d84b8bc20b4 496 Matrix A(4,4);
NaotoMorita 22:7d84b8bc20b4 497 A << 0.0f << -0.5f*gyro.x <<-0.5f*gyro.y <<-0.5f*gyro.z
NaotoMorita 22:7d84b8bc20b4 498 << 0.5f*gyro.x << 0.0f << 0.5f*gyro.z <<-0.5f*gyro.y
NaotoMorita 22:7d84b8bc20b4 499 << 0.5f*gyro.y << -0.5f*gyro.z << 0.0f << 0.5f*gyro.x
NaotoMorita 22:7d84b8bc20b4 500 << 0.5f*gyro.z << 0.5f*gyro.y <<-0.5f*gyro.x << 0.0f ;
NaotoMorita 22:7d84b8bc20b4 501
NaotoMorita 22:7d84b8bc20b4 502 Matrix phi = MatrixMath::Eye(4) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 22:7d84b8bc20b4 503 qhat = phi * qhat;
NaotoMorita 22:7d84b8bc20b4 504 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 22:7d84b8bc20b4 505 qhat *= (1.0f/ qnorm);
NaotoMorita 22:7d84b8bc20b4 506
NaotoMorita 22:7d84b8bc20b4 507 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 508 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 509 vihat += (MatrixMath::Transpose(dcm)*MatrixMath::Vector2mat(acc)-MatrixMath::Vector2mat(accref))*att_dt*9.8f;
NaotoMorita 22:7d84b8bc20b4 510 }
NaotoMorita 19:3fae66745363 511
NaotoMorita 22:7d84b8bc20b4 512 void ScErrStateEKF::updateErrState(Vector3 gyro,Vector3 acc, float att_dt)
NaotoMorita 22:7d84b8bc20b4 513 {
NaotoMorita 22:7d84b8bc20b4 514 gyro -= gyroBias;
NaotoMorita 22:7d84b8bc20b4 515 acc -= accBias;
NaotoMorita 22:7d84b8bc20b4 516 Matrix A(nState,nState);
NaotoMorita 22:7d84b8bc20b4 517 A(1,2) = gyro.z;
NaotoMorita 22:7d84b8bc20b4 518 A(1,3) = -gyro.y;
NaotoMorita 22:7d84b8bc20b4 519 A(2,1) = -gyro.z;
NaotoMorita 22:7d84b8bc20b4 520 A(2,3) = gyro.x;
NaotoMorita 22:7d84b8bc20b4 521 A(3,1) = gyro.y;
NaotoMorita 22:7d84b8bc20b4 522 A(3,2) = -gyro.x;
NaotoMorita 22:7d84b8bc20b4 523 A(1,4) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 524 A(2,5) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 525 A(3,6) = -0.5f;
NaotoMorita 22:7d84b8bc20b4 526
NaotoMorita 22:7d84b8bc20b4 527 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 528 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 529 Matrix qeterm = -2.0f*9.8f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(acc.x,acc.y,acc.z);
NaotoMorita 22:7d84b8bc20b4 530 Matrix baterm = -9.8f*MatrixMath::Transpose(dcm);
NaotoMorita 22:7d84b8bc20b4 531 for (int i = 1; i < 4; i++){
NaotoMorita 22:7d84b8bc20b4 532 for (int j = 1; i < 4; i++){
NaotoMorita 22:7d84b8bc20b4 533 A(i+9,j) = qeterm(i,j);
NaotoMorita 22:7d84b8bc20b4 534 A(i+9,j+6) = baterm(i,j);
NaotoMorita 22:7d84b8bc20b4 535 }
NaotoMorita 22:7d84b8bc20b4 536 }
NaotoMorita 22:7d84b8bc20b4 537
NaotoMorita 22:7d84b8bc20b4 538 Matrix phi = MatrixMath::Eye(nState) + A * att_dt + (0.5f*att_dt*att_dt) * A * A;
NaotoMorita 22:7d84b8bc20b4 539 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 540 errState = phi * errState;
NaotoMorita 22:7d84b8bc20b4 541 Phat = phi*Phat*MatrixMath::Transpose(phi)+Qd;
NaotoMorita 22:7d84b8bc20b4 542 }
NaotoMorita 22:7d84b8bc20b4 543
NaotoMorita 22:7d84b8bc20b4 544 void ScErrStateEKF::updateVelocityConstraints()
NaotoMorita 22:7d84b8bc20b4 545 {
NaotoMorita 22:7d84b8bc20b4 546
NaotoMorita 22:7d84b8bc20b4 547 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 548 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 549 Matrix H(2,nState);
NaotoMorita 22:7d84b8bc20b4 550
NaotoMorita 22:7d84b8bc20b4 551 Matrix nomVb = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 552 Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 22:7d84b8bc20b4 553 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 554 H(1,j) = -qeterm(1,j);
NaotoMorita 22:7d84b8bc20b4 555 H(2,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 556 //H(3,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 557 H(1,9+j) = -dcm(1,j);
NaotoMorita 22:7d84b8bc20b4 558 H(2,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 559 //H(3,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 560 }
NaotoMorita 22:7d84b8bc20b4 561
NaotoMorita 22:7d84b8bc20b4 562 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc);
NaotoMorita 22:7d84b8bc20b4 563 Matrix z(2,1);
NaotoMorita 22:7d84b8bc20b4 564 z << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 22:7d84b8bc20b4 565 Matrix corrVal = K * (z-H*errState);
NaotoMorita 22:7d84b8bc20b4 566 errState = errState + corrVal;
NaotoMorita 22:7d84b8bc20b4 567 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K);
NaotoMorita 22:7d84b8bc20b4 568
NaotoMorita 22:7d84b8bc20b4 569 }
NaotoMorita 22:7d84b8bc20b4 570
NaotoMorita 22:7d84b8bc20b4 571 void ScErrStateEKF::updateConstraints(Vector3 gyro)
NaotoMorita 22:7d84b8bc20b4 572 {
NaotoMorita 22:7d84b8bc20b4 573
NaotoMorita 22:7d84b8bc20b4 574 gyro -=gyroBias;
NaotoMorita 22:7d84b8bc20b4 575
NaotoMorita 22:7d84b8bc20b4 576 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 577 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 578
NaotoMorita 22:7d84b8bc20b4 579 Matrix qeterm = -2.0f*MatrixMath::Transpose(dcm)*MatrixMath::Matrixcross(gyro.x,gyro.y,gyro.z);
NaotoMorita 22:7d84b8bc20b4 580 Matrix H(4,nState);
NaotoMorita 22:7d84b8bc20b4 581 for(int i = 1; i<3; i++){
NaotoMorita 22:7d84b8bc20b4 582 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 583 H(i,j) = qeterm(i,j);
NaotoMorita 22:7d84b8bc20b4 584 }
NaotoMorita 22:7d84b8bc20b4 585 }
NaotoMorita 22:7d84b8bc20b4 586 H(1,4) = 1.0f*(dcm(1,1));
NaotoMorita 22:7d84b8bc20b4 587 H(1,5) = 1.0f*(dcm(2,1));
NaotoMorita 22:7d84b8bc20b4 588 H(1,6) = 1.0f*(dcm(3,1));
NaotoMorita 22:7d84b8bc20b4 589 H(2,4) = 1.0f*(dcm(1,2));
NaotoMorita 22:7d84b8bc20b4 590 H(2,5) = 1.0f*(dcm(2,2));
NaotoMorita 22:7d84b8bc20b4 591 H(2,6) = 1.0f*(dcm(3,2));
NaotoMorita 22:7d84b8bc20b4 592
NaotoMorita 22:7d84b8bc20b4 593 Matrix nomVb = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 594 qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 22:7d84b8bc20b4 595 for(int j = 1;j<4;j++){
NaotoMorita 22:7d84b8bc20b4 596 H(3,j) = -qeterm(1,j);
NaotoMorita 22:7d84b8bc20b4 597 H(4,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 598 //H(3,j) = -qeterm(3,j);
NaotoMorita 22:7d84b8bc20b4 599 H(3,9+j) = -dcm(1,j);
NaotoMorita 22:7d84b8bc20b4 600 H(4,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 601 //H(3,9+j) = -dcm(3,j);
NaotoMorita 22:7d84b8bc20b4 602 }
NaotoMorita 22:7d84b8bc20b4 603
NaotoMorita 22:7d84b8bc20b4 604 Matrix R(4,4);
NaotoMorita 22:7d84b8bc20b4 605 R(1,1) = Rgsc(1,1);
NaotoMorita 22:7d84b8bc20b4 606 R(2,2) = Rgsc(2,1);
NaotoMorita 22:7d84b8bc20b4 607 R(3,3) = Rvsc(1,1);
NaotoMorita 22:7d84b8bc20b4 608 R(4,4) = Rvsc(2,1);
NaotoMorita 22:7d84b8bc20b4 609 //R(5,5) = Rvsc(3,1);
NaotoMorita 22:7d84b8bc20b4 610 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 22:7d84b8bc20b4 611 Matrix z(4,1);
NaotoMorita 22:7d84b8bc20b4 612 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 613 Matrix corrVal = K * (z-H*errState);
NaotoMorita 22:7d84b8bc20b4 614 errState = errState + corrVal;
NaotoMorita 22:7d84b8bc20b4 615 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K);
NaotoMorita 22:7d84b8bc20b4 616 }
NaotoMorita 22:7d84b8bc20b4 617
NaotoMorita 22:7d84b8bc20b4 618 void ScErrStateEKF::computeVb(Vector3& vb)
NaotoMorita 22:7d84b8bc20b4 619 {
NaotoMorita 22:7d84b8bc20b4 620 Matrix dcm(3,3);
NaotoMorita 22:7d84b8bc20b4 621 computeDcm(dcm, qhat);
NaotoMorita 22:7d84b8bc20b4 622 Matrix vbmat = dcm*vihat;
NaotoMorita 22:7d84b8bc20b4 623 vb.x = vbmat(1,1);
NaotoMorita 22:7d84b8bc20b4 624 vb.y = vbmat(2,1);
NaotoMorita 22:7d84b8bc20b4 625 vb.z = vbmat(3,1);
NaotoMorita 22:7d84b8bc20b4 626
NaotoMorita 22:7d84b8bc20b4 627 }
NaotoMorita 26:73c3f58b9d70 628
NaotoMorita 26:73c3f58b9d70 629 void ScErrStateEKF::updateMagMeasures(Vector3 mag)
NaotoMorita 26:73c3f58b9d70 630 {
NaotoMorita 26:73c3f58b9d70 631 //mag = mag/mag.Norm();
NaotoMorita 26:73c3f58b9d70 632 Matrix dcm(3,3);
NaotoMorita 26:73c3f58b9d70 633 computeDcm(dcm, qhat);
NaotoMorita 26:73c3f58b9d70 634
NaotoMorita 26:73c3f58b9d70 635 Matrix magvec(3,1);
NaotoMorita 26:73c3f58b9d70 636 magvec(1,1) = mag.x;
NaotoMorita 26:73c3f58b9d70 637 magvec(2,1) = mag.y;
NaotoMorita 26:73c3f58b9d70 638 magvec(3,1) = mag.z;
NaotoMorita 26:73c3f58b9d70 639
NaotoMorita 26:73c3f58b9d70 640 Matrix magnedvec = MatrixMath::Transpose(dcm)*magvec;
NaotoMorita 26:73c3f58b9d70 641 Matrix magrefmod(3,1);
NaotoMorita 26:73c3f58b9d70 642 magrefmod(1,1) = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1));
NaotoMorita 26:73c3f58b9d70 643 magrefmod(2,1) = 0.0f;
NaotoMorita 26:73c3f58b9d70 644 magrefmod(3,1) = magnedvec(3,1);
NaotoMorita 26:73c3f58b9d70 645
NaotoMorita 26:73c3f58b9d70 646 Matrix mvec = dcm*magrefmod ;
NaotoMorita 26:73c3f58b9d70 647 Matrix H(3,nState);
NaotoMorita 26:73c3f58b9d70 648 H(1,2) = -2.0f*magvec(3,1);
NaotoMorita 26:73c3f58b9d70 649 H(1,3) = 2.0f*magvec(2,1);
NaotoMorita 26:73c3f58b9d70 650 H(2,1) = 2.0f*magvec(3,1);
NaotoMorita 26:73c3f58b9d70 651 H(2,3) = -2.0f*magvec(1,1);
NaotoMorita 26:73c3f58b9d70 652 H(3,1) = -2.0f*magvec(2,1);
NaotoMorita 26:73c3f58b9d70 653 H(3,2) = 2.0f*magvec(1,1);
NaotoMorita 26:73c3f58b9d70 654 Matrix Pm(nState,nState);
NaotoMorita 26:73c3f58b9d70 655 for(int i = 1; i<4; i++){
NaotoMorita 26:73c3f58b9d70 656 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 657 Pm(i,j) = Phat(i,j);
NaotoMorita 26:73c3f58b9d70 658 }
NaotoMorita 26:73c3f58b9d70 659 }
NaotoMorita 26:73c3f58b9d70 660 Matrix r3(3,1);
NaotoMorita 26:73c3f58b9d70 661 r3 << dcm(1,3)<< dcm(2,3) << dcm(3,3);
NaotoMorita 26:73c3f58b9d70 662 Matrix kpart = r3*MatrixMath::Transpose(r3);
NaotoMorita 26:73c3f58b9d70 663 Matrix Kmod(nState,nState);
NaotoMorita 26:73c3f58b9d70 664 for(int i = 1; i<4; i++){
NaotoMorita 26:73c3f58b9d70 665 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 666 Kmod(i,j) = kpart(i,j);
NaotoMorita 26:73c3f58b9d70 667 }
NaotoMorita 26:73c3f58b9d70 668 }
NaotoMorita 26:73c3f58b9d70 669
NaotoMorita 26:73c3f58b9d70 670 Matrix K = Kmod*(Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+Rm);
NaotoMorita 26:73c3f58b9d70 671 Matrix z = magvec-mvec;
NaotoMorita 26:73c3f58b9d70 672 errState = errState + K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 673 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rm)*MatrixMath::Transpose(K);
NaotoMorita 26:73c3f58b9d70 674 }
NaotoMorita 26:73c3f58b9d70 675
NaotoMorita 26:73c3f58b9d70 676 void ScErrStateEKF::updateVelocityConstraints()
NaotoMorita 26:73c3f58b9d70 677 {
NaotoMorita 26:73c3f58b9d70 678
NaotoMorita 26:73c3f58b9d70 679 Matrix dcm(3,3);
NaotoMorita 26:73c3f58b9d70 680 computeDcm(dcm, qhat);
NaotoMorita 26:73c3f58b9d70 681 Matrix H(2,nState);
NaotoMorita 26:73c3f58b9d70 682
NaotoMorita 26:73c3f58b9d70 683 Matrix nomVb = dcm*vihat;
NaotoMorita 26:73c3f58b9d70 684 Matrix qeterm = -2.0f*MatrixMath::Matrixcross(nomVb(1,1),nomVb(2,1),nomVb(3,1));
NaotoMorita 26:73c3f58b9d70 685 for(int j = 1;j<4;j++){
NaotoMorita 26:73c3f58b9d70 686 H(1,j) = -qeterm(1,j);
NaotoMorita 26:73c3f58b9d70 687 H(2,j) = -qeterm(3,j);
NaotoMorita 26:73c3f58b9d70 688 //H(3,j) = -qeterm(3,j);
NaotoMorita 26:73c3f58b9d70 689 H(1,9+j) = -dcm(1,j);
NaotoMorita 26:73c3f58b9d70 690 H(2,9+j) = -dcm(3,j);
NaotoMorita 26:73c3f58b9d70 691 //H(3,9+j) = -dcm(3,j);
NaotoMorita 26:73c3f58b9d70 692 }
NaotoMorita 26:73c3f58b9d70 693
NaotoMorita 26:73c3f58b9d70 694 Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Rvsc);
NaotoMorita 26:73c3f58b9d70 695 Matrix z(2,1);
NaotoMorita 26:73c3f58b9d70 696 z << nomVb(1,1) << nomVb(3,1) ;
NaotoMorita 26:73c3f58b9d70 697 Matrix corrVal = K * (z-H*errState);
NaotoMorita 26:73c3f58b9d70 698 errState = errState + corrVal;
NaotoMorita 26:73c3f58b9d70 699 Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(Rvsc)*MatrixMath::Transpose(K);
NaotoMorita 26:73c3f58b9d70 700
NaotoMorita 26:73c3f58b9d70 701 }
NaotoMorita 22:7d84b8bc20b4 702 */
NaotoMorita 22:7d84b8bc20b4 703
NaotoMorita 22:7d84b8bc20b4 704