altb_pmic / Mbed 2 deprecated Test_ekf

Testing ekf implementation for Quadro_1.

Dependencies:   mbed Eigen

EKF_RPY.cpp@12:180e09c4ea26, 2019-10-22 (annotated)

Committer:
pmic
Date:
Tue Oct 22 19:37:32 2019 +0000
Revision:
12:180e09c4ea26
Parent:
9:be2e1d2f683d
Child:
13:2e03d9c03409
Copy past altb's additional instation without m0 to EKF_RPY.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 0:a0e9705be9c4 1 #include "EKF_RPY.h"
pmic 0:a0e9705be9c4 2
pmic 0:a0e9705be9c4 3 using namespace std;
pmic 0:a0e9705be9c4 4 using namespace Eigen;
pmic 0:a0e9705be9c4 5
pmic 0:a0e9705be9c4 6 EKF_RPY::EKF_RPY(float Ts, float mx0, float my0, float mz0)
pmic 0:a0e9705be9c4 7 {
pmic 0:a0e9705be9c4 8 this->Ts = Ts;
pmic 12:180e09c4ea26 9 set_para();
pmic 12:180e09c4ea26 10 m0 << mx0, my0, mz0;
pmic 12:180e09c4ea26 11 reset();
pmic 12:180e09c4ea26 12 }
pmic 12:180e09c4ea26 13
pmic 12:180e09c4ea26 14 EKF_RPY::EKF_RPY(float Ts)
pmic 12:180e09c4ea26 15 {
pmic 12:180e09c4ea26 16 this->Ts = Ts;
pmic 12:180e09c4ea26 17 set_para();
pmic 12:180e09c4ea26 18 reset();
pmic 12:180e09c4ea26 19 }
pmic 12:180e09c4ea26 20
pmic 12:180e09c4ea26 21 EKF_RPY::~EKF_RPY() {}
pmic 12:180e09c4ea26 22
pmic 12:180e09c4ea26 23 void EKF_RPY::set_para()
pmic 12:180e09c4ea26 24 {
pmic 7:bcbcc23983de 25 /* [n_gyro; n_v; n_b_g] */
pmic 9:be2e1d2f683d 26 var_fx << 0.01f, 0.01f, 0.01f, 0.0001f, 0.0001f, 0.0001f, 0.0001f, 0.0001f;
pmic 0:a0e9705be9c4 27 /* [n_acc; n_mag] */
pmic 9:be2e1d2f683d 28 var_gy << 45.0f, 45.0f, 0.1f, 0.1f;
pmic 9:be2e1d2f683d 29 rho = 0.5f;
pmic 7:bcbcc23983de 30 kv = 0.5f; /* k1/m */
pmic 7:bcbcc23983de 31 g = 9.81f;
pmic 0:a0e9705be9c4 32 }
pmic 0:a0e9705be9c4 33
pmic 0:a0e9705be9c4 34 void EKF_RPY::reset()
pmic 0:a0e9705be9c4 35 {
pmic 0:a0e9705be9c4 36 u.setZero();
pmic 0:a0e9705be9c4 37 y.setZero();
pmic 0:a0e9705be9c4 38 x.setZero();
pmic 7:bcbcc23983de 39 update_angles();
pmic 7:bcbcc23983de 40 calc_F();
pmic 7:bcbcc23983de 41 calc_H();
pmic 0:a0e9705be9c4 42 initialize_Q();
pmic 0:a0e9705be9c4 43 initialize_R();
pmic 7:bcbcc23983de 44 P = Q;
pmic 0:a0e9705be9c4 45 K.setZero();
pmic 7:bcbcc23983de 46 I.setIdentity();
pmic 7:bcbcc23983de 47 }
pmic 7:bcbcc23983de 48
pmic 12:180e09c4ea26 49 void EKF_RPY::set_m0(float mx0, float my0, float mz0)
pmic 12:180e09c4ea26 50 {
pmic 12:180e09c4ea26 51 m0 << mx0, my0, mz0;
pmic 12:180e09c4ea26 52 }
pmic 12:180e09c4ea26 53
pmic 7:bcbcc23983de 54 float EKF_RPY::get_est_state(uint8_t i)
pmic 7:bcbcc23983de 55 {
pmic 7:bcbcc23983de 56 /* x = [ang; v; b_g] = [0: phi
pmic 7:bcbcc23983de 57 1: theta
pmic 7:bcbcc23983de 58 2: psi
pmic 7:bcbcc23983de 59 3: b_gx
pmic 7:bcbcc23983de 60 4: b_gy
pmic 7:bcbcc23983de 61 5: b_gz
pmic 7:bcbcc23983de 62 6: vx
pmic 7:bcbcc23983de 63 7: vy] */
pmic 7:bcbcc23983de 64 return x(i);
pmic 0:a0e9705be9c4 65 }
pmic 0:a0e9705be9c4 66
pmic 0:a0e9705be9c4 67 void EKF_RPY::update(float gyro_x, float gyro_y, float gyro_z, float accel_x, float accel_y, float magnet_x, float magnet_y)
pmic 7:bcbcc23983de 68 {
pmic 0:a0e9705be9c4 69 u << gyro_x, gyro_y, gyro_z;
pmic 0:a0e9705be9c4 70 y << accel_x, accel_y, magnet_x, magnet_y;
pmic 7:bcbcc23983de 71 update_angles();
pmic 0:a0e9705be9c4 72
pmic 7:bcbcc23983de 73 calc_F();
pmic 7:bcbcc23983de 74 calc_H();
pmic 7:bcbcc23983de 75 calc_Q();
pmic 0:a0e9705be9c4 76
pmic 0:a0e9705be9c4 77 x = fxd();
pmic 0:a0e9705be9c4 78 P = F * P * F.transpose() + Q;
pmic 0:a0e9705be9c4 79
pmic 7:bcbcc23983de 80 K = P * H.transpose() * ( H * P * H.transpose() + R ).inverse();
pmic 0:a0e9705be9c4 81
pmic 0:a0e9705be9c4 82 x = x + K * (y - gy());
pmic 0:a0e9705be9c4 83 P = (I - K * H) * P;
pmic 0:a0e9705be9c4 84 }
pmic 0:a0e9705be9c4 85
pmic 0:a0e9705be9c4 86 void EKF_RPY::update_angles()
pmic 0:a0e9705be9c4 87 {
pmic 7:bcbcc23983de 88 s1 = sinf(x(0));
pmic 7:bcbcc23983de 89 c1 = cosf(x(0));
pmic 7:bcbcc23983de 90 s2 = sinf(x(1));
pmic 7:bcbcc23983de 91 c2 = cosf(x(1));
pmic 7:bcbcc23983de 92 s3 = sinf(x(2));
pmic 7:bcbcc23983de 93 c3 = cosf(x(2));
pmic 0:a0e9705be9c4 94 }
pmic 0:a0e9705be9c4 95
pmic 7:bcbcc23983de 96 void EKF_RPY::calc_F()
pmic 7:bcbcc23983de 97 {
pmic 7:bcbcc23983de 98 F << Ts*(c1*s2*(u(1) - x(6)) - s1*s2*(u(2) - x(7)))/c2 + 1.0f, Ts*(c1*(u(2) - x(7)) + s1*(u(1) - x(6)))/(c2*c2), 0.0f, 0.0f, 0.0f, -Ts, -Ts*s1*s2/c2, -Ts*c1*s2/c2,
pmic 7:bcbcc23983de 99 -Ts*(c1*(u(2) - x(7)) + s1*(u(1) - x(6))), 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, -Ts*c1, Ts*s1,
pmic 7:bcbcc23983de 100 Ts*(c1*(u(1) - x(6)) - s1*(u(2) - x(7)))/c2, Ts*(c1*(u(2) - x(7)) + s1*(u(1) - x(6)))*s2/(c2*c2), 1.0f, 0.0f, 0.0f, 0.0f, -Ts*s1/c2, -Ts*c1/c2,
pmic 7:bcbcc23983de 101 0.0f, Ts*c2*g, 0.0f, 1.0f - Ts*kv, Ts*(u(2) - x(7)), 0.0f, 0.0f, -Ts*x(4),
pmic 7:bcbcc23983de 102 -Ts*c1*c2*g, Ts*g*s1*s2, 0.0f, -Ts*(u(2) - x(7)), 1.0f - Ts*kv, 0.0f, 0.0f, Ts*x(3),
pmic 7:bcbcc23983de 103 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 104 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
pmic 7:bcbcc23983de 105 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f;
pmic 7:bcbcc23983de 106 }
pmic 0:a0e9705be9c4 107
pmic 7:bcbcc23983de 108 void EKF_RPY::calc_H()
pmic 7:bcbcc23983de 109 {
pmic 7:bcbcc23983de 110 H << 0.0f, 0.0f, 0.0f, -kv, u(2) - x(7), 0.0f, 0.0f, -x(4),
pmic 7:bcbcc23983de 111 0.0f, 0.0f, 0.0f, x(7) - u(2), -kv, 0.0f, 0.0f, x(3),
pmic 7:bcbcc23983de 112 0.0f, - c2*m0(2) - c3*m0(0)*s2 - m0(1)*s2*s3, c2*(c3*m0(1) - m0(0)*s3), 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 113 m0(0)*(s1*s3 + c1*c3*s2) - m0(1)*(c3*s1 - c1*s2*s3) + c1*c2*m0(2), s1*(c2*c3*m0(0) - m0(2)*s2 + c2*m0(1)*s3), - m0(0)*(c1*c3 + s1*s2*s3) - m0(1)*(c1*s3 - c3*s1*s2), 0.0f, 0.0f, 0.0f, 0.0f, 0.0f;
pmic 7:bcbcc23983de 114 }
pmic 0:a0e9705be9c4 115
pmic 0:a0e9705be9c4 116 void EKF_RPY::initialize_R()
pmic 7:bcbcc23983de 117 {
pmic 7:bcbcc23983de 118 R << rho*var_gy(0)/Ts, 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 119 0.0f, rho*var_gy(1)/Ts, 0.0f, 0.0f,
pmic 7:bcbcc23983de 120 0.0f, 0.0f, rho*var_gy(2)/Ts, 0.0f,
pmic 7:bcbcc23983de 121 0.0f, 0.0f, 0.0f, rho*var_gy(3)/Ts;
pmic 7:bcbcc23983de 122 }
pmic 0:a0e9705be9c4 123
pmic 0:a0e9705be9c4 124 void EKF_RPY::initialize_Q()
pmic 7:bcbcc23983de 125 {
pmic 7:bcbcc23983de 126 Q << Ts*(var_fx(0) + (c1*c1*var_fx(2) + s1*s1*var_fx(1))*s2*s2/(c2*c2)), Ts*(var_fx(1) - var_fx(2))*c1*s1*s2/c2, Ts*(c1*c1*var_fx(2) + s1*s1*var_fx(1))*s2/(c2*c2), 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 127 Ts*(var_fx(1) - var_fx(2))*c1*s1*s2/c2, Ts*(var_fx(1)*c1*c1 + var_fx(2)*s1*s1), Ts*(var_fx(1) - var_fx(2))*c1*s1/c2, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 128 Ts*(c1*c1*var_fx(2) + s1*s1*var_fx(1))*s2/(c2*c2), Ts*(var_fx(1) - var_fx(2))*c1*s1/c2, Ts*(c1*c1*var_fx(2) + s1*s1*var_fx(1))/(c2*c2), 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 129 0.0f, 0.0f, 0.0f, Ts*var_fx(3), 0.0f, 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 130 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(4), 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 131 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(5), 0.0f, 0.0f,
pmic 7:bcbcc23983de 132 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(6), 0.0f,
pmic 7:bcbcc23983de 133 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(7);
pmic 7:bcbcc23983de 134 }
pmic 0:a0e9705be9c4 135
pmic 7:bcbcc23983de 136 void EKF_RPY::calc_Q()
pmic 7:bcbcc23983de 137 {
pmic 7:bcbcc23983de 138 Q(0,0) = Ts*(var_fx(0) + (c1*c1*var_fx(2) + s1*s1*var_fx(1))*s2*s2/(c2*c2));
pmic 7:bcbcc23983de 139 Q(0,1) = Ts*(var_fx(1) - var_fx(2))*c1*s1*s2/c2;
pmic 7:bcbcc23983de 140 Q(0,2) = Ts*(c1*c1*var_fx(2) + s1*s1*var_fx(1))*s2/(c2*c2);
pmic 0:a0e9705be9c4 141 Q(1,0) = Q(0,1);
pmic 7:bcbcc23983de 142 Q(1,1) = Ts*(var_fx(1)*c1*c1 + var_fx(2)*s1*s1);
pmic 7:bcbcc23983de 143 Q(1,2) = Ts*(var_fx(1) - var_fx(2))*c1*s1/c2;
pmic 0:a0e9705be9c4 144 Q(2,0) = Q(0,2);
pmic 0:a0e9705be9c4 145 Q(2,1) = Q(1,2);
pmic 7:bcbcc23983de 146 Q(2,2) = Ts*(c1*c1*var_fx(2) + s1*s1*var_fx(1))/(c2*c2);
pmic 7:bcbcc23983de 147 }
pmic 0:a0e9705be9c4 148
pmic 7:bcbcc23983de 149 Matrix <float, 8, 1> EKF_RPY::fxd()
pmic 0:a0e9705be9c4 150 {
pmic 7:bcbcc23983de 151 Matrix <float, 8, 1> retval;
pmic 0:a0e9705be9c4 152 retval << x(0) + Ts*(u(0) - x(5) + (c1*s2*(u(2) - x(7)))/c2 + (s1*s2*(u(1) - x(6)))/c2),
pmic 0:a0e9705be9c4 153 x(1) + Ts*(c1*(u(1) - x(6)) - s1*(u(2) - x(7))),
pmic 0:a0e9705be9c4 154 x(2) + Ts*((c1*(u(2) - x(7)))/c2 + (s1*(u(1) - x(6)))/c2),
pmic 0:a0e9705be9c4 155 x(3) + Ts*(g*s2 - kv*x(3) + x(4)*(u(2) - x(7))),
pmic 0:a0e9705be9c4 156 x(4) - Ts*(kv*x(4) + x(3)*(u(2) - x(7)) + c2*g*s1),
pmic 0:a0e9705be9c4 157 x(5),
pmic 0:a0e9705be9c4 158 x(6),
pmic 7:bcbcc23983de 159 x(7);
pmic 0:a0e9705be9c4 160 return retval;
pmic 0:a0e9705be9c4 161 }
pmic 0:a0e9705be9c4 162
pmic 0:a0e9705be9c4 163 Matrix <float, 4, 1> EKF_RPY::gy()
pmic 0:a0e9705be9c4 164 {
pmic 0:a0e9705be9c4 165 Matrix <float, 4, 1> retval;
pmic 7:bcbcc23983de 166 retval << x(4)*(u(2) - x(7)) - kv*x(3),
pmic 7:bcbcc23983de 167 - kv*x(4) - x(3)*(u(2) - x(7)),
pmic 7:bcbcc23983de 168 - m0(2)*s2 + c2*c3*m0(0) + c2*m0(1)*s3,
pmic 7:bcbcc23983de 169 - m0(0)*(c1*s3 - c3*s1*s2) + m0(1)*(c1*c3 + s1*s2*s3) + c2*m0(2)*s1;
pmic 0:a0e9705be9c4 170 return retval;
pmic 0:a0e9705be9c4 171 }
pmic 0:a0e9705be9c4 172