Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.cpp@64:f5b6256726f3, 2021-11-17 (annotated)
- Committer:
- NaotoMorita
- Date:
- Wed Nov 17 05:11:57 2021 +0000
- Revision:
- 64:f5b6256726f3
- Parent:
- 61:5e5c4fe12440
- Child:
- 67:0453896df0d6
suh mod
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 | 61:5e5c4fe12440 | 6 | :pihat(3,1),vihat(3,1),qhat(4,1),accBias(3,1),gyroBias(3,1),gravity(3,1),errState(16,1),Phat(16,16),Q(16,16) |
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 | 58:93ba28cf5cb3 | 14 | |
NaotoMorita | 58:93ba28cf5cb3 | 15 | nState = errState.getRows(); |
NaotoMorita | 46:15988dc41923 | 16 | |
NaotoMorita | 58:93ba28cf5cb3 | 17 | for (int i = 1; i < nState+1; i++){ |
NaotoMorita | 46:15988dc41923 | 18 | errState(i,1) = 0.0f; |
NaotoMorita | 58:93ba28cf5cb3 | 19 | for (int j = 1; j < nState+1; j++){ |
NaotoMorita | 46:15988dc41923 | 20 | Phat(i,j) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 21 | Q(i,j) = 0.0f; |
NaotoMorita | 46:15988dc41923 | 22 | } |
NaotoMorita | 46:15988dc41923 | 23 | } |
NaotoMorita | 44:7d82e63b6a86 | 24 | |
NaotoMorita | 46:15988dc41923 | 25 | setBlockDiag(Phat,0.1f,1,3);//position |
NaotoMorita | 46:15988dc41923 | 26 | setBlockDiag(Phat,0.1f,4,6);//velocity |
NaotoMorita | 46:15988dc41923 | 27 | setBlockDiag(Phat,0.1f,7,9);//angle error |
NaotoMorita | 47:2467de40951f | 28 | setBlockDiag(Phat,0.1f,10,12);//acc bias |
NaotoMorita | 47:2467de40951f | 29 | setBlockDiag(Phat,0.1f,13,15);//gyro bias |
NaotoMorita | 61:5e5c4fe12440 | 30 | setBlockDiag(Phat,0.00000001f,16,16);//gravity |
NaotoMorita | 47:2467de40951f | 31 | setBlockDiag(Q,0.00025f,4,6);//velocity |
NaotoMorita | 55:21611d4cf7e8 | 32 | setBlockDiag(Q,0.005f/57.0f,7,9);//angle error |
NaotoMorita | 46:15988dc41923 | 33 | setBlockDiag(Q,0.001f,10,12);//acc bias |
NaotoMorita | 61:5e5c4fe12440 | 34 | setBlockDiag(Q,0.001f,13,15);//gyro bias//positionとgravityはQ項なし |
NaotoMorita | 19:3fae66745363 | 35 | |
NaotoMorita | 19:3fae66745363 | 36 | |
NaotoMorita | 19:3fae66745363 | 37 | } |
NaotoMorita | 19:3fae66745363 | 38 | |
NaotoMorita | 47:2467de40951f | 39 | |
NaotoMorita | 44:7d82e63b6a86 | 40 | void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt) |
NaotoMorita | 19:3fae66745363 | 41 | { |
NaotoMorita | 44:7d82e63b6a86 | 42 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 43 | Matrix accm = acc - accBias; |
NaotoMorita | 44:7d82e63b6a86 | 44 | |
NaotoMorita | 44:7d82e63b6a86 | 45 | Matrix qint(4,1); |
NaotoMorita | 46:15988dc41923 | 46 | 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 | 47 | qhat = quatmultiply(qhat,qint); |
NaotoMorita | 19:3fae66745363 | 48 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 49 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 50 | |
NaotoMorita | 23:1509648c2318 | 51 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 52 | computeDcm(dcm, qhat); |
NaotoMorita | 46:15988dc41923 | 53 | Matrix accned = dcm*accm+gravity; |
NaotoMorita | 44:7d82e63b6a86 | 54 | vihat += accned*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 55 | |
NaotoMorita | 44:7d82e63b6a86 | 56 | pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt; |
NaotoMorita | 19:3fae66745363 | 57 | } |
NaotoMorita | 19:3fae66745363 | 58 | |
NaotoMorita | 44:7d82e63b6a86 | 59 | void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt) |
NaotoMorita | 23:1509648c2318 | 60 | { |
NaotoMorita | 44:7d82e63b6a86 | 61 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 62 | Matrix accm = acc - accBias; |
NaotoMorita | 23:1509648c2318 | 63 | |
NaotoMorita | 23:1509648c2318 | 64 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 65 | computeDcm(dcm, qhat); |
NaotoMorita | 47:2467de40951f | 66 | Matrix a2v = -dcm*MatrixMath::Matrixcross(accm(1,1),accm(2,1),accm(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 67 | |
NaotoMorita | 47:2467de40951f | 68 | Matrix A(nState,nState); |
NaotoMorita | 44:7d82e63b6a86 | 69 | //position |
NaotoMorita | 47:2467de40951f | 70 | A(1,4) = 1.0f; |
NaotoMorita | 47:2467de40951f | 71 | A(2,5) = 1.0f; |
NaotoMorita | 47:2467de40951f | 72 | A(3,6) = 1.0f; |
NaotoMorita | 47:2467de40951f | 73 | |
NaotoMorita | 47:2467de40951f | 74 | //velocity |
NaotoMorita | 46:15988dc41923 | 75 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 46:15988dc41923 | 76 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 47:2467de40951f | 77 | A(i+3,j+6) = a2v(i,j); |
NaotoMorita | 47:2467de40951f | 78 | A(i+3,j+9) = -dcm(i,j); |
NaotoMorita | 47:2467de40951f | 79 | |
NaotoMorita | 23:1509648c2318 | 80 | } |
NaotoMorita | 23:1509648c2318 | 81 | } |
NaotoMorita | 59:03fe5e16a33c | 82 | A(6,16) = 1.0f; |
NaotoMorita | 23:1509648c2318 | 83 | |
NaotoMorita | 44:7d82e63b6a86 | 84 | //angulat error |
NaotoMorita | 47:2467de40951f | 85 | A(7,8) = gyrom(3,1); |
NaotoMorita | 47:2467de40951f | 86 | A(7,9) = -gyrom(2,1); |
NaotoMorita | 47:2467de40951f | 87 | A(8,7) = -gyrom(3,1); |
NaotoMorita | 47:2467de40951f | 88 | A(8,9) = gyrom(1,1); |
NaotoMorita | 47:2467de40951f | 89 | A(9,7) = gyrom(2,1); |
NaotoMorita | 47:2467de40951f | 90 | A(9,8) = -gyrom(1,1); |
NaotoMorita | 47:2467de40951f | 91 | A(7,13) = -1.0f; |
NaotoMorita | 47:2467de40951f | 92 | A(8,14) = -1.0f; |
NaotoMorita | 47:2467de40951f | 93 | A(9,15) = -1.0f; |
NaotoMorita | 25:07ac5c6cd61c | 94 | |
NaotoMorita | 47:2467de40951f | 95 | |
NaotoMorita | 47:2467de40951f | 96 | Matrix Fx = MatrixMath::Eye(nState) + A * att_dt;// + (0.5f*att_dt*att_dt) * A * A; |
NaotoMorita | 59:03fe5e16a33c | 97 | for (int i = 1; i < nState+1; i++){ |
NaotoMorita | 59:03fe5e16a33c | 98 | if(i>3 && i<10){ |
NaotoMorita | 59:03fe5e16a33c | 99 | Q(i,i) *=att_dt; |
NaotoMorita | 59:03fe5e16a33c | 100 | }else if(i>9 && i<16){ |
NaotoMorita | 59:03fe5e16a33c | 101 | Q(i,i) *= att_dt*att_dt; |
NaotoMorita | 59:03fe5e16a33c | 102 | }else if(i>16 && i<nState+1){ |
NaotoMorita | 59:03fe5e16a33c | 103 | Q(i,i) *=att_dt*att_dt; |
NaotoMorita | 59:03fe5e16a33c | 104 | }else{ |
NaotoMorita | 59:03fe5e16a33c | 105 | Q(i,i) = 0.0f; |
NaotoMorita | 59:03fe5e16a33c | 106 | } |
NaotoMorita | 59:03fe5e16a33c | 107 | } |
NaotoMorita | 44:7d82e63b6a86 | 108 | errState = Fx * errState; |
NaotoMorita | 59:03fe5e16a33c | 109 | Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Q; |
NaotoMorita | 25:07ac5c6cd61c | 110 | } |
NaotoMorita | 25:07ac5c6cd61c | 111 | |
NaotoMorita | 61:5e5c4fe12440 | 112 | void solaESKF::updateAcc(Matrix acc,Matrix R) |
NaotoMorita | 46:15988dc41923 | 113 | { |
NaotoMorita | 46:15988dc41923 | 114 | Matrix accm = acc - accBias; |
NaotoMorita | 56:c10f1168bd4a | 115 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 116 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 117 | Matrix tdcm = MatrixMath::Transpose(dcm); |
NaotoMorita | 46:15988dc41923 | 118 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 59:03fe5e16a33c | 119 | Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 46:15988dc41923 | 120 | |
NaotoMorita | 61:5e5c4fe12440 | 121 | Matrix H(3,nState); |
NaotoMorita | 59:03fe5e16a33c | 122 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 59:03fe5e16a33c | 123 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 59:03fe5e16a33c | 124 | H(i,j+6) = rotgrav(i,j); |
NaotoMorita | 46:15988dc41923 | 125 | } |
NaotoMorita | 59:03fe5e16a33c | 126 | H(i,16) = tdcm(i,3); |
NaotoMorita | 58:93ba28cf5cb3 | 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 | 59:03fe5e16a33c | 132 | |
NaotoMorita | 61:5e5c4fe12440 | 133 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 61:5e5c4fe12440 | 134 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 61:5e5c4fe12440 | 135 | Matrix z(3,1); |
NaotoMorita | 61:5e5c4fe12440 | 136 | z << zacc(1,1) << zacc(2,1) << zacc(3,1); |
NaotoMorita | 61:5e5c4fe12440 | 137 | errState = K * z; |
NaotoMorita | 61:5e5c4fe12440 | 138 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 61:5e5c4fe12440 | 139 | |
NaotoMorita | 61:5e5c4fe12440 | 140 | fuseErr2Nominal(); |
NaotoMorita | 61:5e5c4fe12440 | 141 | } |
NaotoMorita | 61:5e5c4fe12440 | 142 | void solaESKF::updateMag(Matrix mag,Matrix R) |
NaotoMorita | 61:5e5c4fe12440 | 143 | { |
NaotoMorita | 61:5e5c4fe12440 | 144 | Matrix magm = mag; |
NaotoMorita | 61:5e5c4fe12440 | 145 | Matrix dcm(3,3); |
NaotoMorita | 61:5e5c4fe12440 | 146 | computeDcm(dcm, qhat); |
NaotoMorita | 61:5e5c4fe12440 | 147 | Matrix tdcm = MatrixMath::Transpose(dcm); |
NaotoMorita | 61:5e5c4fe12440 | 148 | Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1)); |
NaotoMorita | 61:5e5c4fe12440 | 149 | |
NaotoMorita | 61:5e5c4fe12440 | 150 | Matrix H(3,nState); |
NaotoMorita | 64:f5b6256726f3 | 151 | int nH = H.getRows(); |
NaotoMorita | 59:03fe5e16a33c | 152 | Matrix magned = dcm*magm; |
NaotoMorita | 59:03fe5e16a33c | 153 | float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1)); |
NaotoMorita | 61:5e5c4fe12440 | 154 | float hz = sqrt(magned(3,1)*magned(3,1)); |
NaotoMorita | 61:5e5c4fe12440 | 155 | |
NaotoMorita | 61:5e5c4fe12440 | 156 | |
NaotoMorita | 59:03fe5e16a33c | 157 | for(int j = 1; j < 4; j++){ |
NaotoMorita | 61:5e5c4fe12440 | 158 | H(1,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx; |
NaotoMorita | 61:5e5c4fe12440 | 159 | H(2,j+6) = rotmag(2,j); |
NaotoMorita | 61:5e5c4fe12440 | 160 | H(3,j+6) = rotmag(3,j)-(rotmag(3,j))/hz; |
NaotoMorita | 61:5e5c4fe12440 | 161 | } |
NaotoMorita | 61:5e5c4fe12440 | 162 | |
NaotoMorita | 61:5e5c4fe12440 | 163 | Matrix r3(3,1); |
NaotoMorita | 61:5e5c4fe12440 | 164 | r3 << tdcm(1,3)<< tdcm(2,3) << tdcm(3,3); |
NaotoMorita | 64:f5b6256726f3 | 165 | |
NaotoMorita | 61:5e5c4fe12440 | 166 | Matrix kpart = r3*MatrixMath::Transpose(r3); |
NaotoMorita | 61:5e5c4fe12440 | 167 | Matrix Pm(nState,nState); |
NaotoMorita | 61:5e5c4fe12440 | 168 | for(int i = 7; i<10; i++){ |
NaotoMorita | 61:5e5c4fe12440 | 169 | for(int j = 7;j<10;j++){ |
NaotoMorita | 61:5e5c4fe12440 | 170 | Pm(i,j) = Phat(i,j); |
NaotoMorita | 61:5e5c4fe12440 | 171 | } |
NaotoMorita | 59:03fe5e16a33c | 172 | } |
NaotoMorita | 64:f5b6256726f3 | 173 | for(int i = 13; i<16; i++){ |
NaotoMorita | 64:f5b6256726f3 | 174 | for(int j = 13;j<16;j++){ |
NaotoMorita | 64:f5b6256726f3 | 175 | Pm(i,j) = Phat(i,j); |
NaotoMorita | 64:f5b6256726f3 | 176 | } |
NaotoMorita | 64:f5b6256726f3 | 177 | } |
NaotoMorita | 59:03fe5e16a33c | 178 | |
NaotoMorita | 61:5e5c4fe12440 | 179 | Matrix K = (Pm*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Pm*MatrixMath::Transpose(H)+R); |
NaotoMorita | 64:f5b6256726f3 | 180 | Matrix Kmod(3,nH); |
NaotoMorita | 61:5e5c4fe12440 | 181 | for(int i = 1; i<4; i++){ |
NaotoMorita | 64:f5b6256726f3 | 182 | for(int j = 1;j<nH+1;j++){ |
NaotoMorita | 61:5e5c4fe12440 | 183 | Kmod(i,j) = K(i+6,j); |
NaotoMorita | 61:5e5c4fe12440 | 184 | } |
NaotoMorita | 61:5e5c4fe12440 | 185 | } |
NaotoMorita | 61:5e5c4fe12440 | 186 | Kmod = kpart*Kmod; |
NaotoMorita | 61:5e5c4fe12440 | 187 | for(int i = 1; i<nState+1; i++){ |
NaotoMorita | 64:f5b6256726f3 | 188 | for(int j = 1;j<nH+1;j++){ |
NaotoMorita | 61:5e5c4fe12440 | 189 | if(i>6 && i<10){ |
NaotoMorita | 61:5e5c4fe12440 | 190 | K(i,j) = Kmod(i-6,j); |
NaotoMorita | 64:f5b6256726f3 | 191 | }else if(i<13 || i>15){ |
NaotoMorita | 61:5e5c4fe12440 | 192 | K(i,j) = 0.0f; |
NaotoMorita | 61:5e5c4fe12440 | 193 | } |
NaotoMorita | 61:5e5c4fe12440 | 194 | } |
NaotoMorita | 61:5e5c4fe12440 | 195 | } |
NaotoMorita | 61:5e5c4fe12440 | 196 | |
NaotoMorita | 64:f5b6256726f3 | 197 | Matrix z(nH,1); |
NaotoMorita | 61:5e5c4fe12440 | 198 | z << -(magned(1,1) - hx) << -magned(2,1) <<-(magned(3,1) - hz) ; |
NaotoMorita | 64:f5b6256726f3 | 199 | //twelite.printf("%f %f %f\r\n",z(1,1),z(2,1)); |
NaotoMorita | 46:15988dc41923 | 200 | errState = K * z; |
NaotoMorita | 50:dadad0567349 | 201 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 58:93ba28cf5cb3 | 202 | |
NaotoMorita | 58:93ba28cf5cb3 | 203 | fuseErr2Nominal(); |
NaotoMorita | 58:93ba28cf5cb3 | 204 | } |
NaotoMorita | 58:93ba28cf5cb3 | 205 | |
NaotoMorita | 58:93ba28cf5cb3 | 206 | |
NaotoMorita | 59:03fe5e16a33c | 207 | void solaESKF::updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R) |
NaotoMorita | 58:93ba28cf5cb3 | 208 | { |
NaotoMorita | 59:03fe5e16a33c | 209 | Matrix H(5,nState); |
NaotoMorita | 46:15988dc41923 | 210 | H(1,1) = 1.0f; |
NaotoMorita | 46:15988dc41923 | 211 | H(2,2) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 212 | H(3,3) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 213 | H(4,4) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 214 | H(5,5) = 1.0f; |
NaotoMorita | 53:8b551358a7e3 | 215 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 59:03fe5e16a33c | 216 | Matrix z(5,1); |
NaotoMorita | 59:03fe5e16a33c | 217 | 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 | 58:93ba28cf5cb3 | 218 | errState = K * z; |
NaotoMorita | 58:93ba28cf5cb3 | 219 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 58:93ba28cf5cb3 | 220 | fuseErr2Nominal(); |
NaotoMorita | 58:93ba28cf5cb3 | 221 | } |
NaotoMorita | 58:93ba28cf5cb3 | 222 | |
NaotoMorita | 46:15988dc41923 | 223 | |
NaotoMorita | 44:7d82e63b6a86 | 224 | Matrix solaESKF::computeAngles() |
NaotoMorita | 25:07ac5c6cd61c | 225 | { |
NaotoMorita | 25:07ac5c6cd61c | 226 | |
NaotoMorita | 44:7d82e63b6a86 | 227 | Matrix euler(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 228 | 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 | 229 | euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1))); |
NaotoMorita | 44:7d82e63b6a86 | 230 | 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 | 231 | return euler; |
NaotoMorita | 19:3fae66745363 | 232 | } |
NaotoMorita | 19:3fae66745363 | 233 | |
NaotoMorita | 21:d6079def0473 | 234 | |
NaotoMorita | 44:7d82e63b6a86 | 235 | void solaESKF::fuseErr2Nominal() |
NaotoMorita | 19:3fae66745363 | 236 | { |
NaotoMorita | 44:7d82e63b6a86 | 237 | //position |
NaotoMorita | 44:7d82e63b6a86 | 238 | pihat(1,1) += errState(1,1); |
NaotoMorita | 44:7d82e63b6a86 | 239 | pihat(2,1) += errState(2,1); |
NaotoMorita | 44:7d82e63b6a86 | 240 | pihat(3,1) += errState(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 241 | |
NaotoMorita | 44:7d82e63b6a86 | 242 | //velocity |
NaotoMorita | 44:7d82e63b6a86 | 243 | vihat(1,1) += errState(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 244 | vihat(2,1) += errState(5,1); |
NaotoMorita | 44:7d82e63b6a86 | 245 | vihat(3,1) += errState(6,1); |
NaotoMorita | 44:7d82e63b6a86 | 246 | |
NaotoMorita | 44:7d82e63b6a86 | 247 | //angle error |
NaotoMorita | 19:3fae66745363 | 248 | Matrix qerr(4,1); |
NaotoMorita | 46:15988dc41923 | 249 | qerr << 1.0f << 0.5f*errState(7,1) << 0.5f*errState(8,1) << 0.5f*errState(9,1); |
NaotoMorita | 19:3fae66745363 | 250 | qhat = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 251 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 252 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 253 | |
NaotoMorita | 44:7d82e63b6a86 | 254 | //acc bias |
NaotoMorita | 44:7d82e63b6a86 | 255 | accBias(1,1) += errState(10,1); |
NaotoMorita | 44:7d82e63b6a86 | 256 | accBias(2,1) += errState(11,1); |
NaotoMorita | 44:7d82e63b6a86 | 257 | accBias(3,1) += errState(12,1); |
NaotoMorita | 44:7d82e63b6a86 | 258 | |
NaotoMorita | 44:7d82e63b6a86 | 259 | //gyro bias |
NaotoMorita | 44:7d82e63b6a86 | 260 | gyroBias(1,1) += errState(13,1); |
NaotoMorita | 44:7d82e63b6a86 | 261 | gyroBias(2,1) += errState(14,1); |
NaotoMorita | 44:7d82e63b6a86 | 262 | gyroBias(3,1) += errState(15,1); |
NaotoMorita | 44:7d82e63b6a86 | 263 | |
NaotoMorita | 44:7d82e63b6a86 | 264 | //gravity bias |
NaotoMorita | 59:03fe5e16a33c | 265 | gravity(1,1) = 0.0f; |
NaotoMorita | 59:03fe5e16a33c | 266 | gravity(2,1) = 0.0f; |
NaotoMorita | 59:03fe5e16a33c | 267 | gravity(3,1) += errState(16,1); |
NaotoMorita | 47:2467de40951f | 268 | |
NaotoMorita | 56:c10f1168bd4a | 269 | |
NaotoMorita | 58:93ba28cf5cb3 | 270 | for (int i = 1; i < nState+1; i++){ |
NaotoMorita | 47:2467de40951f | 271 | errState(i,1) = 0.0f; |
NaotoMorita | 47:2467de40951f | 272 | } |
NaotoMorita | 44:7d82e63b6a86 | 273 | |
NaotoMorita | 19:3fae66745363 | 274 | } |
NaotoMorita | 19:3fae66745363 | 275 | |
NaotoMorita | 44:7d82e63b6a86 | 276 | Matrix solaESKF::quatmultiply(Matrix p, Matrix q) |
NaotoMorita | 19:3fae66745363 | 277 | { |
NaotoMorita | 44:7d82e63b6a86 | 278 | |
NaotoMorita | 19:3fae66745363 | 279 | Matrix qout(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 280 | 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 | 281 | 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 | 282 | 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 | 283 | 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 | 284 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); |
NaotoMorita | 19:3fae66745363 | 285 | qout *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 286 | return qout; |
NaotoMorita | 19:3fae66745363 | 287 | } |
NaotoMorita | 19:3fae66745363 | 288 | |
NaotoMorita | 44:7d82e63b6a86 | 289 | void solaESKF::computeDcm(Matrix& dcm, Matrix quat) |
NaotoMorita | 19:3fae66745363 | 290 | { |
NaotoMorita | 19:3fae66745363 | 291 | |
NaotoMorita | 44:7d82e63b6a86 | 292 | 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 | 293 | dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 294 | dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 295 | dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 296 | 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 | 297 | dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 298 | dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 299 | dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 300 | 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 | 301 | |
NaotoMorita | 19:3fae66745363 | 302 | } |
NaotoMorita | 19:3fae66745363 | 303 | |
NaotoMorita | 44:7d82e63b6a86 | 304 | void solaESKF::setQhat(float ex,float ey,float ez) |
NaotoMorita | 44:7d82e63b6a86 | 305 | { |
NaotoMorita | 44:7d82e63b6a86 | 306 | float cos_z_2 = cosf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 307 | float cos_y_2 = cosf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 308 | float cos_x_2 = cosf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 309 | |
NaotoMorita | 44:7d82e63b6a86 | 310 | float sin_z_2 = sinf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 311 | float sin_y_2 = sinf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 312 | float sin_x_2 = sinf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 313 | |
NaotoMorita | 19:3fae66745363 | 314 | // and now compute quaternion |
NaotoMorita | 19:3fae66745363 | 315 | qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 316 | qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
NaotoMorita | 19:3fae66745363 | 317 | qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 318 | qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 319 | } |
NaotoMorita | 19:3fae66745363 | 320 | |
NaotoMorita | 47:2467de40951f | 321 | |
NaotoMorita | 47:2467de40951f | 322 | |
NaotoMorita | 44:7d82e63b6a86 | 323 | void solaESKF::setGravity(float gx,float gy,float gz) |
NaotoMorita | 23:1509648c2318 | 324 | { |
NaotoMorita | 44:7d82e63b6a86 | 325 | gravity(1,1) = gx; |
NaotoMorita | 44:7d82e63b6a86 | 326 | gravity(2,1) = gy; |
NaotoMorita | 44:7d82e63b6a86 | 327 | gravity(3,1) = gz; |
NaotoMorita | 23:1509648c2318 | 328 | } |
NaotoMorita | 47:2467de40951f | 329 | Matrix solaESKF::getPihat() |
NaotoMorita | 47:2467de40951f | 330 | { |
NaotoMorita | 47:2467de40951f | 331 | return pihat; |
NaotoMorita | 47:2467de40951f | 332 | } |
NaotoMorita | 47:2467de40951f | 333 | Matrix solaESKF::getVihat() |
NaotoMorita | 47:2467de40951f | 334 | { |
NaotoMorita | 47:2467de40951f | 335 | return vihat; |
NaotoMorita | 47:2467de40951f | 336 | } |
NaotoMorita | 47:2467de40951f | 337 | Matrix solaESKF::getQhat() |
NaotoMorita | 47:2467de40951f | 338 | { |
NaotoMorita | 47:2467de40951f | 339 | return qhat; |
NaotoMorita | 47:2467de40951f | 340 | } |
NaotoMorita | 47:2467de40951f | 341 | Matrix solaESKF::getAccBias() |
NaotoMorita | 47:2467de40951f | 342 | { |
NaotoMorita | 47:2467de40951f | 343 | return accBias; |
NaotoMorita | 47:2467de40951f | 344 | } |
NaotoMorita | 47:2467de40951f | 345 | Matrix solaESKF::getGyroBias() |
NaotoMorita | 47:2467de40951f | 346 | { |
NaotoMorita | 47:2467de40951f | 347 | return gyroBias; |
NaotoMorita | 47:2467de40951f | 348 | } |
NaotoMorita | 47:2467de40951f | 349 | Matrix solaESKF::getGravity() |
NaotoMorita | 47:2467de40951f | 350 | { |
NaotoMorita | 47:2467de40951f | 351 | return gravity; |
NaotoMorita | 47:2467de40951f | 352 | } |
NaotoMorita | 47:2467de40951f | 353 | Matrix solaESKF::getErrState() |
NaotoMorita | 47:2467de40951f | 354 | { |
NaotoMorita | 47:2467de40951f | 355 | return errState; |
NaotoMorita | 47:2467de40951f | 356 | } |
NaotoMorita | 23:1509648c2318 | 357 | |
NaotoMorita | 47:2467de40951f | 358 | void solaESKF::setPhatPosition(float val) |
NaotoMorita | 47:2467de40951f | 359 | { |
NaotoMorita | 47:2467de40951f | 360 | setBlockDiag(Phat,val,1,3); |
NaotoMorita | 47:2467de40951f | 361 | } |
NaotoMorita | 47:2467de40951f | 362 | void solaESKF::setPhatVelocity(float val) |
NaotoMorita | 47:2467de40951f | 363 | { |
NaotoMorita | 47:2467de40951f | 364 | setBlockDiag(Phat,val,4,6); |
NaotoMorita | 47:2467de40951f | 365 | } |
NaotoMorita | 47:2467de40951f | 366 | void solaESKF::setPhatAngleError(float val) |
NaotoMorita | 47:2467de40951f | 367 | { |
NaotoMorita | 47:2467de40951f | 368 | setBlockDiag(Phat,val,7,9); |
NaotoMorita | 47:2467de40951f | 369 | } |
NaotoMorita | 47:2467de40951f | 370 | void solaESKF::setPhatAccBias(float val) |
NaotoMorita | 47:2467de40951f | 371 | { |
NaotoMorita | 47:2467de40951f | 372 | setBlockDiag(Phat,val,10,12); |
NaotoMorita | 47:2467de40951f | 373 | } |
NaotoMorita | 47:2467de40951f | 374 | void solaESKF::setPhatGyroBias(float val) |
NaotoMorita | 47:2467de40951f | 375 | { |
NaotoMorita | 47:2467de40951f | 376 | setBlockDiag(Phat,val,13,15); |
NaotoMorita | 47:2467de40951f | 377 | } |
NaotoMorita | 47:2467de40951f | 378 | void solaESKF::setPhatGravity(float val) |
NaotoMorita | 47:2467de40951f | 379 | { |
NaotoMorita | 59:03fe5e16a33c | 380 | setBlockDiag(Phat,val,16,16); |
NaotoMorita | 47:2467de40951f | 381 | } |
NaotoMorita | 47:2467de40951f | 382 | |
NaotoMorita | 47:2467de40951f | 383 | |
NaotoMorita | 47:2467de40951f | 384 | void solaESKF::setQVelocity(float val) |
NaotoMorita | 47:2467de40951f | 385 | { |
NaotoMorita | 47:2467de40951f | 386 | setBlockDiag(Q,val,4,6); |
NaotoMorita | 47:2467de40951f | 387 | } |
NaotoMorita | 47:2467de40951f | 388 | void solaESKF::setQAngleError(float val) |
NaotoMorita | 47:2467de40951f | 389 | { |
NaotoMorita | 47:2467de40951f | 390 | setBlockDiag(Q,val,7,9); |
NaotoMorita | 47:2467de40951f | 391 | } |
NaotoMorita | 47:2467de40951f | 392 | void solaESKF::setQAccBias(float val) |
NaotoMorita | 47:2467de40951f | 393 | { |
NaotoMorita | 47:2467de40951f | 394 | setBlockDiag(Q,val,10,12); |
NaotoMorita | 47:2467de40951f | 395 | } |
NaotoMorita | 47:2467de40951f | 396 | void solaESKF::setQGyroBias(float val) |
NaotoMorita | 47:2467de40951f | 397 | { |
NaotoMorita | 47:2467de40951f | 398 | setBlockDiag(Q,val,13,15); |
NaotoMorita | 47:2467de40951f | 399 | } |
NaotoMorita | 19:3fae66745363 | 400 | |
NaotoMorita | 19:3fae66745363 | 401 | |
NaotoMorita | 44:7d82e63b6a86 | 402 | void solaESKF::setDiag(Matrix& mat, float val){ |
NaotoMorita | 44:7d82e63b6a86 | 403 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 404 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 405 | } |
NaotoMorita | 22:7d84b8bc20b4 | 406 | } |
NaotoMorita | 22:7d84b8bc20b4 | 407 | |
NaotoMorita | 45:df4618814803 | 408 | void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){ |
NaotoMorita | 44:7d82e63b6a86 | 409 | for (int i = startIndex; i < endIndex+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 410 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 411 | } |
NaotoMorita | 22:7d84b8bc20b4 | 412 | } |
osaka | 51:a5af3b280d23 | 413 | |
NaotoMorita | 58:93ba28cf5cb3 | 414 | void solaESKF::setPihat(float pi_x, float pi_y) |
osaka | 51:a5af3b280d23 | 415 | { |
NaotoMorita | 56:c10f1168bd4a | 416 | pihat(1,1) = pi_x; |
NaotoMorita | 56:c10f1168bd4a | 417 | pihat(2,1) = pi_y; |
NaotoMorita | 58:93ba28cf5cb3 | 418 | //pihat(3,1) = pi_z; |
NaotoMorita | 56:c10f1168bd4a | 419 | } |
NaotoMorita | 56:c10f1168bd4a | 420 | /* |
NaotoMorita | 56:c10f1168bd4a | 421 | void solaESKF::updateAccConstraints(Matrix acc,float palt,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 422 | { |
NaotoMorita | 56:c10f1168bd4a | 423 | Matrix accm = acc - accBias; |
NaotoMorita | 56:c10f1168bd4a | 424 | Matrix tdcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 425 | computeDcm(tdcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 426 | tdcm = MatrixMath::Transpose(tdcm); |
NaotoMorita | 56:c10f1168bd4a | 427 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 428 | Matrix a2v = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 429 | |
NaotoMorita | 56:c10f1168bd4a | 430 | Matrix H(4,nState); |
NaotoMorita | 56:c10f1168bd4a | 431 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 56:c10f1168bd4a | 432 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 433 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 434 | H(i,j+15) = tdcm(i,j); |
NaotoMorita | 56:c10f1168bd4a | 435 | } |
NaotoMorita | 56:c10f1168bd4a | 436 | } |
NaotoMorita | 56:c10f1168bd4a | 437 | H(1,10) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 438 | H(2,11) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 439 | H(3,12) = -1.0f; |
NaotoMorita | 56:c10f1168bd4a | 440 | H(4,3) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 441 | |
NaotoMorita | 56:c10f1168bd4a | 442 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 443 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 444 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 445 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 56:c10f1168bd4a | 446 | Matrix z(4,1); |
NaotoMorita | 56:c10f1168bd4a | 447 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << palt - pihat(3,1); |
NaotoMorita | 56:c10f1168bd4a | 448 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 449 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 450 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 451 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 452 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 453 | } |
NaotoMorita | 56:c10f1168bd4a | 454 | |
NaotoMorita | 56:c10f1168bd4a | 455 | void solaESKF::updateGyroConstraints(Matrix gyro,Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 456 | { |
NaotoMorita | 56:c10f1168bd4a | 457 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 56:c10f1168bd4a | 458 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 459 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 460 | Matrix a2v = dcm*MatrixMath::Matrixcross(gyrom(1,1),gyrom(2,1),gyrom(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 461 | |
NaotoMorita | 56:c10f1168bd4a | 462 | Matrix H(2,nState); |
NaotoMorita | 56:c10f1168bd4a | 463 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 56:c10f1168bd4a | 464 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 465 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 466 | H(i,j+12) = -dcm(i,j); |
NaotoMorita | 56:c10f1168bd4a | 467 | } |
NaotoMorita | 56:c10f1168bd4a | 468 | } |
NaotoMorita | 56:c10f1168bd4a | 469 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 470 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(2))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 471 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 472 | |
NaotoMorita | 56:c10f1168bd4a | 473 | Matrix z3 = -dcm*gyrom; |
NaotoMorita | 56:c10f1168bd4a | 474 | Matrix z(2,1); |
NaotoMorita | 56:c10f1168bd4a | 475 | z << z3(1,1) << z3(2,1); |
NaotoMorita | 56:c10f1168bd4a | 476 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 477 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 478 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 479 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 480 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 481 | } |
NaotoMorita | 56:c10f1168bd4a | 482 | void solaESKF::updateMag(Matrix mag, Matrix R) |
NaotoMorita | 56:c10f1168bd4a | 483 | { |
NaotoMorita | 56:c10f1168bd4a | 484 | Matrix dcm(3,3); |
NaotoMorita | 56:c10f1168bd4a | 485 | computeDcm(dcm, qhat); |
NaotoMorita | 56:c10f1168bd4a | 486 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 56:c10f1168bd4a | 487 | |
NaotoMorita | 56:c10f1168bd4a | 488 | Matrix H(2,nState); |
NaotoMorita | 56:c10f1168bd4a | 489 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 56:c10f1168bd4a | 490 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 56:c10f1168bd4a | 491 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 56:c10f1168bd4a | 492 | } |
NaotoMorita | 56:c10f1168bd4a | 493 | } |
NaotoMorita | 56:c10f1168bd4a | 494 | H(1,19) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 495 | //H(3,20) = 1.0f; |
NaotoMorita | 56:c10f1168bd4a | 496 | |
NaotoMorita | 56:c10f1168bd4a | 497 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 56:c10f1168bd4a | 498 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 56:c10f1168bd4a | 499 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 56:c10f1168bd4a | 500 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 56:c10f1168bd4a | 501 | Matrix z(2,1); |
NaotoMorita | 56:c10f1168bd4a | 502 | z << zmag(1,1) << zmag(2,1); |
NaotoMorita | 56:c10f1168bd4a | 503 | errState = K * z; |
NaotoMorita | 56:c10f1168bd4a | 504 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 56:c10f1168bd4a | 505 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 506 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 56:c10f1168bd4a | 507 | fuseErr2Nominal(); |
NaotoMorita | 56:c10f1168bd4a | 508 | } |
NaotoMorita | 59:03fe5e16a33c | 509 | void solaESKF::updateMag(Matrix mag,float palt, Matrix R) |
NaotoMorita | 59:03fe5e16a33c | 510 | { |
NaotoMorita | 59:03fe5e16a33c | 511 | Matrix dcm(3,3); |
NaotoMorita | 59:03fe5e16a33c | 512 | computeDcm(dcm, qhat); |
NaotoMorita | 59:03fe5e16a33c | 513 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 59:03fe5e16a33c | 514 | |
NaotoMorita | 59:03fe5e16a33c | 515 | Matrix H(3,nState); |
NaotoMorita | 59:03fe5e16a33c | 516 | for (int i = 1; i < 3; i++){ |
NaotoMorita | 59:03fe5e16a33c | 517 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 59:03fe5e16a33c | 518 | H(i,j+6) = a2v(i,j); |
NaotoMorita | 59:03fe5e16a33c | 519 | } |
NaotoMorita | 59:03fe5e16a33c | 520 | } |
NaotoMorita | 59:03fe5e16a33c | 521 | H(1,19) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 522 | H(3,3) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 523 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 59:03fe5e16a33c | 524 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 59:03fe5e16a33c | 525 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 59:03fe5e16a33c | 526 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 59:03fe5e16a33c | 527 | Matrix z(3,1); |
NaotoMorita | 59:03fe5e16a33c | 528 | z << zmag(1,1) << zmag(2,1) << palt - pihat(3,1); |
NaotoMorita | 59:03fe5e16a33c | 529 | errState = K * z; |
NaotoMorita | 59:03fe5e16a33c | 530 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 59:03fe5e16a33c | 531 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 532 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 533 | |
NaotoMorita | 59:03fe5e16a33c | 534 | fuseErr2Nominal(); |
NaotoMorita | 59:03fe5e16a33c | 535 | } |
NaotoMorita | 59:03fe5e16a33c | 536 | void solaESKF::updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R) |
NaotoMorita | 59:03fe5e16a33c | 537 | { |
NaotoMorita | 59:03fe5e16a33c | 538 | |
NaotoMorita | 59:03fe5e16a33c | 539 | Matrix dcm(3,3); |
NaotoMorita | 59:03fe5e16a33c | 540 | computeDcm(dcm, qhat); |
NaotoMorita | 59:03fe5e16a33c | 541 | Matrix a2v = -dcm*MatrixMath::Matrixcross(mag(1,1),mag(2,1),mag(3,1)); |
NaotoMorita | 59:03fe5e16a33c | 542 | |
NaotoMorita | 59:03fe5e16a33c | 543 | |
NaotoMorita | 59:03fe5e16a33c | 544 | Matrix H(3,nState); |
NaotoMorita | 59:03fe5e16a33c | 545 | H(1,4) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 546 | H(2,5) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 547 | |
NaotoMorita | 59:03fe5e16a33c | 548 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 59:03fe5e16a33c | 549 | H(3,j+6) = a2v(2,j); |
NaotoMorita | 59:03fe5e16a33c | 550 | } |
NaotoMorita | 59:03fe5e16a33c | 551 | //H(3,19) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 552 | |
NaotoMorita | 59:03fe5e16a33c | 553 | Matrix zmag = -dcm*mag-magField; |
NaotoMorita | 59:03fe5e16a33c | 554 | |
NaotoMorita | 59:03fe5e16a33c | 555 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 59:03fe5e16a33c | 556 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+10.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 59:03fe5e16a33c | 557 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 59:03fe5e16a33c | 558 | Matrix z(3,1); |
NaotoMorita | 59:03fe5e16a33c | 559 | z << velgps(1,1) - vihat(1,1) << velgps(2,1)-vihat(2,1) << zmag(2,1); |
NaotoMorita | 59:03fe5e16a33c | 560 | errState = K * z; |
NaotoMorita | 59:03fe5e16a33c | 561 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 59:03fe5e16a33c | 562 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 563 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 564 | fuseErr2Nominal(); |
NaotoMorita | 59:03fe5e16a33c | 565 | } |
NaotoMorita | 56:c10f1168bd4a | 566 | |
NaotoMorita | 59:03fe5e16a33c | 567 | void solaESKF::updateGPSPosition(Matrix posgps,float palt,Matrix R) |
NaotoMorita | 59:03fe5e16a33c | 568 | { |
NaotoMorita | 59:03fe5e16a33c | 569 | Matrix H(3,nState); |
NaotoMorita | 59:03fe5e16a33c | 570 | H(1,1) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 571 | H(2,2) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 572 | H(3,3) = 1.0f; |
NaotoMorita | 59:03fe5e16a33c | 573 | |
NaotoMorita | 59:03fe5e16a33c | 574 | //Matrix A = H*Phat*MatrixMath::Transpose(H)+R; |
NaotoMorita | 59:03fe5e16a33c | 575 | //Matrix K = (Phat*MatrixMath::Transpose(H))*(MatrixMath::Inv(MatrixMath::Transpose(A)*A+1000.0f*MatrixMath::Eye(3))*MatrixMath::Transpose(A)); |
NaotoMorita | 59:03fe5e16a33c | 576 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 59:03fe5e16a33c | 577 | Matrix z(3,1); |
NaotoMorita | 59:03fe5e16a33c | 578 | z << posgps(1,1) - pihat(1,1) << posgps(2,1)-pihat(2,1) << palt - pihat(3,1); |
NaotoMorita | 59:03fe5e16a33c | 579 | errState = K * z; |
NaotoMorita | 59:03fe5e16a33c | 580 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 59:03fe5e16a33c | 581 | //Phat = Phat-K*(H*Phat*MatrixMath::Transpose(H)+R)*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 582 | //Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 59:03fe5e16a33c | 583 | fuseErr2Nominal(); |
NaotoMorita | 59:03fe5e16a33c | 584 | } |
NaotoMorita | 61:5e5c4fe12440 | 585 | |
NaotoMorita | 61:5e5c4fe12440 | 586 | void solaESKF::updateImuConstraints(Matrix acc,Matrix mag,Matrix R) |
NaotoMorita | 61:5e5c4fe12440 | 587 | { |
NaotoMorita | 61:5e5c4fe12440 | 588 | Matrix accm = acc - accBias; |
NaotoMorita | 61:5e5c4fe12440 | 589 | Matrix magm = mag - magBias; |
NaotoMorita | 61:5e5c4fe12440 | 590 | Matrix dcm(3,3); |
NaotoMorita | 61:5e5c4fe12440 | 591 | computeDcm(dcm, qhat); |
NaotoMorita | 61:5e5c4fe12440 | 592 | Matrix tdcm = MatrixMath::Transpose(dcm); |
NaotoMorita | 61:5e5c4fe12440 | 593 | Matrix tdcm_g = tdcm*gravity; |
NaotoMorita | 61:5e5c4fe12440 | 594 | Matrix rotgrav = MatrixMath::Matrixcross(tdcm_g(1,1),tdcm_g(2,1),tdcm_g(3,1)); |
NaotoMorita | 61:5e5c4fe12440 | 595 | Matrix rotmag = -dcm*MatrixMath::Matrixcross(magm(1,1),magm(2,1),magm(3,1)); |
NaotoMorita | 61:5e5c4fe12440 | 596 | |
NaotoMorita | 61:5e5c4fe12440 | 597 | Matrix H(5,nState); |
NaotoMorita | 61:5e5c4fe12440 | 598 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 61:5e5c4fe12440 | 599 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 61:5e5c4fe12440 | 600 | H(i,j+6) = rotgrav(i,j); |
NaotoMorita | 61:5e5c4fe12440 | 601 | } |
NaotoMorita | 61:5e5c4fe12440 | 602 | H(i,16) = tdcm(i,3); |
NaotoMorita | 61:5e5c4fe12440 | 603 | } |
NaotoMorita | 61:5e5c4fe12440 | 604 | |
NaotoMorita | 61:5e5c4fe12440 | 605 | H(1,10) = -1.0f; |
NaotoMorita | 61:5e5c4fe12440 | 606 | H(2,11) = -1.0f; |
NaotoMorita | 61:5e5c4fe12440 | 607 | H(3,12) = -1.0f; |
NaotoMorita | 61:5e5c4fe12440 | 608 | |
NaotoMorita | 61:5e5c4fe12440 | 609 | Matrix magned = dcm*magm; |
NaotoMorita | 61:5e5c4fe12440 | 610 | float hx = sqrt(magned(1,1)*magned(1,1)+magned(2,1)*magned(2,1)); |
NaotoMorita | 61:5e5c4fe12440 | 611 | |
NaotoMorita | 61:5e5c4fe12440 | 612 | for(int j = 1; j < 4; j++){ |
NaotoMorita | 61:5e5c4fe12440 | 613 | H(4,j+6) = rotmag(1,j)-(rotmag(1,j)+rotmag(2,j))/hx; |
NaotoMorita | 61:5e5c4fe12440 | 614 | H(4,j+16) = -dcm(1,j)+(dcm(1,j)+dcm(2,j))/hx; |
NaotoMorita | 61:5e5c4fe12440 | 615 | H(5,j+6) = rotmag(2,j); |
NaotoMorita | 61:5e5c4fe12440 | 616 | H(5,j+16) = -dcm(2,j); |
NaotoMorita | 61:5e5c4fe12440 | 617 | } |
NaotoMorita | 61:5e5c4fe12440 | 618 | |
NaotoMorita | 61:5e5c4fe12440 | 619 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 61:5e5c4fe12440 | 620 | Matrix zacc = -accm-tdcm*gravity; |
NaotoMorita | 61:5e5c4fe12440 | 621 | Matrix zmag = dcm*magm; |
NaotoMorita | 61:5e5c4fe12440 | 622 | Matrix z(5,1); |
NaotoMorita | 61:5e5c4fe12440 | 623 | z << zacc(1,1) << zacc(2,1) << zacc(3,1) << -(zmag(1,1) - hx) << -zmag(2,1); |
NaotoMorita | 61:5e5c4fe12440 | 624 | twelite.printf("%f %f\r\n",hx,(zmag(1,1) - hx)); |
NaotoMorita | 61:5e5c4fe12440 | 625 | errState = K * z; |
NaotoMorita | 61:5e5c4fe12440 | 626 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat; |
NaotoMorita | 61:5e5c4fe12440 | 627 | |
NaotoMorita | 61:5e5c4fe12440 | 628 | fuseErr2Nominal(); |
NaotoMorita | 61:5e5c4fe12440 | 629 | } |
NaotoMorita | 56:c10f1168bd4a | 630 | */ |