altb_pmic
/
Test_ekf
Testing ekf implementation for Quadro_1.
EKF_RPY.cpp@22:4148af9e3d81, 2020-01-27 (annotated)
- Committer:
- pmic
- Date:
- Mon Jan 27 09:24:35 2020 +0000
- Revision:
- 22:4148af9e3d81
- Parent:
- 21:aab1ac72095b
Correct air drag coefficient for QK4.
Who changed what in which revision?
User | Revision | Line number | New 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 | 13:2e03d9c03409 | 26 | var_fx << 0.1f, 0.1f, 0.1f, 0.002f, 0.002f, 0.002f, 0.002f, 0.002f; |
pmic | 0:a0e9705be9c4 | 27 | /* [n_acc; n_mag] */ |
pmic | 13:2e03d9c03409 | 28 | var_gy << 40.0f, 40.0f, 1.0f, 1.0f; |
pmic | 13:2e03d9c03409 | 29 | rho = 1.0f; |
pmic | 22:4148af9e3d81 | 30 | // kv = 0.5f; /* QK3 k1/m */ |
pmic | 22:4148af9e3d81 | 31 | kv = 0.26f; /* QK4 k1/m */ |
pmic | 7:bcbcc23983de | 32 | g = 9.81f; |
pmic | 21:aab1ac72095b | 33 | scale_P0 = 1000.0f; |
pmic | 0:a0e9705be9c4 | 34 | } |
pmic | 0:a0e9705be9c4 | 35 | |
pmic | 0:a0e9705be9c4 | 36 | void EKF_RPY::reset() |
pmic | 0:a0e9705be9c4 | 37 | { |
pmic | 0:a0e9705be9c4 | 38 | u.setZero(); |
pmic | 0:a0e9705be9c4 | 39 | y.setZero(); |
pmic | 0:a0e9705be9c4 | 40 | x.setZero(); |
pmic | 7:bcbcc23983de | 41 | update_angles(); |
pmic | 7:bcbcc23983de | 42 | calc_F(); |
pmic | 7:bcbcc23983de | 43 | calc_H(); |
pmic | 0:a0e9705be9c4 | 44 | initialize_Q(); |
pmic | 0:a0e9705be9c4 | 45 | initialize_R(); |
pmic | 0:a0e9705be9c4 | 46 | K.setZero(); |
pmic | 7:bcbcc23983de | 47 | I.setIdentity(); |
pmic | 13:2e03d9c03409 | 48 | e.setZero(); |
pmic | 20:0227c82a78c2 | 49 | P = scale_P0 * I; |
pmic | 19:ccb6fc8bf872 | 50 | } |
pmic | 19:ccb6fc8bf872 | 51 | |
pmic | 19:ccb6fc8bf872 | 52 | void EKF_RPY::increase_diag_P() |
pmic | 19:ccb6fc8bf872 | 53 | { |
pmic | 19:ccb6fc8bf872 | 54 | P = P + scale_P0 * I; |
pmic | 7:bcbcc23983de | 55 | } |
pmic | 7:bcbcc23983de | 56 | |
pmic | 12:180e09c4ea26 | 57 | void EKF_RPY::set_m0(float mx0, float my0, float mz0) |
pmic | 12:180e09c4ea26 | 58 | { |
pmic | 12:180e09c4ea26 | 59 | m0 << mx0, my0, mz0; |
pmic | 12:180e09c4ea26 | 60 | } |
pmic | 12:180e09c4ea26 | 61 | |
pmic | 7:bcbcc23983de | 62 | float EKF_RPY::get_est_state(uint8_t i) |
pmic | 7:bcbcc23983de | 63 | { |
pmic | 7:bcbcc23983de | 64 | /* x = [ang; v; b_g] = [0: phi |
pmic | 7:bcbcc23983de | 65 | 1: theta |
pmic | 7:bcbcc23983de | 66 | 2: psi |
pmic | 22:4148af9e3d81 | 67 | 3: b_gx |
pmic | 22:4148af9e3d81 | 68 | 4: b_gy |
pmic | 22:4148af9e3d81 | 69 | 5: b_gz |
pmic | 22:4148af9e3d81 | 70 | 6: vx |
pmic | 22:4148af9e3d81 | 71 | 7: vy] */ |
pmic | 7:bcbcc23983de | 72 | return x(i); |
pmic | 0:a0e9705be9c4 | 73 | } |
pmic | 0:a0e9705be9c4 | 74 | |
pmic | 0:a0e9705be9c4 | 75 | 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 | 76 | { |
pmic | 0:a0e9705be9c4 | 77 | u << gyro_x, gyro_y, gyro_z; |
pmic | 0:a0e9705be9c4 | 78 | y << accel_x, accel_y, magnet_x, magnet_y; |
pmic | 7:bcbcc23983de | 79 | update_angles(); |
pmic | 0:a0e9705be9c4 | 80 | |
pmic | 7:bcbcc23983de | 81 | calc_F(); |
pmic | 7:bcbcc23983de | 82 | calc_H(); |
pmic | 7:bcbcc23983de | 83 | calc_Q(); |
pmic | 0:a0e9705be9c4 | 84 | |
pmic | 0:a0e9705be9c4 | 85 | x = fxd(); |
pmic | 0:a0e9705be9c4 | 86 | P = F * P * F.transpose() + Q; |
pmic | 13:2e03d9c03409 | 87 | e = y - gy(); |
pmic | 0:a0e9705be9c4 | 88 | |
pmic | 17:1d98928f7681 | 89 | /* inversion faster 356 mus < 432 mus recursion */ |
pmic | 17:1d98928f7681 | 90 | K = P * H.transpose() * ( H * P * H.transpose() + R ).inverse(); |
pmic | 17:1d98928f7681 | 91 | x = x + K * e; |
pmic | 17:1d98928f7681 | 92 | P = (I - K * H) * P; |
pmic | 15:53485bd1ff28 | 93 | |
pmic | 13:2e03d9c03409 | 94 | /* only valid if R is diagonal (uncorrelated noise) */ |
pmic | 17:1d98928f7681 | 95 | /* |
pmic | 16:c39e084f05ed | 96 | for(uint8_t i = 0; i < 4; i++) { |
pmic | 16:c39e084f05ed | 97 | K.col(i) = ( P * (H.row(i)).transpose() ) / ( H.row(i) * P * (H.row(i)).transpose() + R(i,i) ); |
pmic | 16:c39e084f05ed | 98 | x = x + K.col(i) * e(i); |
pmic | 16:c39e084f05ed | 99 | P = (I - K.col(i)*H.row(i)) * P; |
pmic | 16:c39e084f05ed | 100 | } |
pmic | 17:1d98928f7681 | 101 | */ |
pmic | 0:a0e9705be9c4 | 102 | } |
pmic | 0:a0e9705be9c4 | 103 | |
pmic | 0:a0e9705be9c4 | 104 | void EKF_RPY::update_angles() |
pmic | 0:a0e9705be9c4 | 105 | { |
pmic | 7:bcbcc23983de | 106 | s1 = sinf(x(0)); |
pmic | 7:bcbcc23983de | 107 | c1 = cosf(x(0)); |
pmic | 7:bcbcc23983de | 108 | s2 = sinf(x(1)); |
pmic | 7:bcbcc23983de | 109 | c2 = cosf(x(1)); |
pmic | 7:bcbcc23983de | 110 | s3 = sinf(x(2)); |
pmic | 7:bcbcc23983de | 111 | c3 = cosf(x(2)); |
pmic | 0:a0e9705be9c4 | 112 | } |
pmic | 0:a0e9705be9c4 | 113 | |
pmic | 7:bcbcc23983de | 114 | void EKF_RPY::calc_F() |
pmic | 7:bcbcc23983de | 115 | { |
pmic | 7:bcbcc23983de | 116 | 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 | 117 | -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 | 118 | 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 | 119 | 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 | 120 | -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 | 121 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, |
pmic | 7:bcbcc23983de | 122 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, |
pmic | 7:bcbcc23983de | 123 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f; |
pmic | 7:bcbcc23983de | 124 | } |
pmic | 0:a0e9705be9c4 | 125 | |
pmic | 7:bcbcc23983de | 126 | void EKF_RPY::calc_H() |
pmic | 7:bcbcc23983de | 127 | { |
pmic | 7:bcbcc23983de | 128 | H << 0.0f, 0.0f, 0.0f, -kv, u(2) - x(7), 0.0f, 0.0f, -x(4), |
pmic | 7:bcbcc23983de | 129 | 0.0f, 0.0f, 0.0f, x(7) - u(2), -kv, 0.0f, 0.0f, x(3), |
pmic | 7:bcbcc23983de | 130 | 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 | 131 | 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 | 132 | } |
pmic | 0:a0e9705be9c4 | 133 | |
pmic | 0:a0e9705be9c4 | 134 | void EKF_RPY::initialize_R() |
pmic | 7:bcbcc23983de | 135 | { |
pmic | 7:bcbcc23983de | 136 | R << rho*var_gy(0)/Ts, 0.0f, 0.0f, 0.0f, |
pmic | 7:bcbcc23983de | 137 | 0.0f, rho*var_gy(1)/Ts, 0.0f, 0.0f, |
pmic | 7:bcbcc23983de | 138 | 0.0f, 0.0f, rho*var_gy(2)/Ts, 0.0f, |
pmic | 7:bcbcc23983de | 139 | 0.0f, 0.0f, 0.0f, rho*var_gy(3)/Ts; |
pmic | 7:bcbcc23983de | 140 | } |
pmic | 0:a0e9705be9c4 | 141 | |
pmic | 0:a0e9705be9c4 | 142 | void EKF_RPY::initialize_Q() |
pmic | 7:bcbcc23983de | 143 | { |
pmic | 7:bcbcc23983de | 144 | 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 | 145 | 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 | 146 | 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 | 147 | 0.0f, 0.0f, 0.0f, Ts*var_fx(3), 0.0f, 0.0f, 0.0f, 0.0f, |
pmic | 7:bcbcc23983de | 148 | 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(4), 0.0f, 0.0f, 0.0f, |
pmic | 7:bcbcc23983de | 149 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(5), 0.0f, 0.0f, |
pmic | 7:bcbcc23983de | 150 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(6), 0.0f, |
pmic | 7:bcbcc23983de | 151 | 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(7); |
pmic | 7:bcbcc23983de | 152 | } |
pmic | 0:a0e9705be9c4 | 153 | |
pmic | 7:bcbcc23983de | 154 | void EKF_RPY::calc_Q() |
pmic | 7:bcbcc23983de | 155 | { |
pmic | 7:bcbcc23983de | 156 | Q(0,0) = Ts*(var_fx(0) + (c1*c1*var_fx(2) + s1*s1*var_fx(1))*s2*s2/(c2*c2)); |
pmic | 7:bcbcc23983de | 157 | Q(0,1) = Ts*(var_fx(1) - var_fx(2))*c1*s1*s2/c2; |
pmic | 7:bcbcc23983de | 158 | Q(0,2) = Ts*(c1*c1*var_fx(2) + s1*s1*var_fx(1))*s2/(c2*c2); |
pmic | 0:a0e9705be9c4 | 159 | Q(1,0) = Q(0,1); |
pmic | 7:bcbcc23983de | 160 | Q(1,1) = Ts*(var_fx(1)*c1*c1 + var_fx(2)*s1*s1); |
pmic | 7:bcbcc23983de | 161 | Q(1,2) = Ts*(var_fx(1) - var_fx(2))*c1*s1/c2; |
pmic | 0:a0e9705be9c4 | 162 | Q(2,0) = Q(0,2); |
pmic | 0:a0e9705be9c4 | 163 | Q(2,1) = Q(1,2); |
pmic | 7:bcbcc23983de | 164 | Q(2,2) = Ts*(c1*c1*var_fx(2) + s1*s1*var_fx(1))/(c2*c2); |
pmic | 7:bcbcc23983de | 165 | } |
pmic | 0:a0e9705be9c4 | 166 | |
pmic | 7:bcbcc23983de | 167 | Matrix <float, 8, 1> EKF_RPY::fxd() |
pmic | 0:a0e9705be9c4 | 168 | { |
pmic | 7:bcbcc23983de | 169 | Matrix <float, 8, 1> retval; |
pmic | 0:a0e9705be9c4 | 170 | 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 | 171 | x(1) + Ts*(c1*(u(1) - x(6)) - s1*(u(2) - x(7))), |
pmic | 0:a0e9705be9c4 | 172 | x(2) + Ts*((c1*(u(2) - x(7)))/c2 + (s1*(u(1) - x(6)))/c2), |
pmic | 0:a0e9705be9c4 | 173 | x(3) + Ts*(g*s2 - kv*x(3) + x(4)*(u(2) - x(7))), |
pmic | 0:a0e9705be9c4 | 174 | x(4) - Ts*(kv*x(4) + x(3)*(u(2) - x(7)) + c2*g*s1), |
pmic | 0:a0e9705be9c4 | 175 | x(5), |
pmic | 0:a0e9705be9c4 | 176 | x(6), |
pmic | 7:bcbcc23983de | 177 | x(7); |
pmic | 0:a0e9705be9c4 | 178 | return retval; |
pmic | 0:a0e9705be9c4 | 179 | } |
pmic | 0:a0e9705be9c4 | 180 | |
pmic | 0:a0e9705be9c4 | 181 | Matrix <float, 4, 1> EKF_RPY::gy() |
pmic | 0:a0e9705be9c4 | 182 | { |
pmic | 0:a0e9705be9c4 | 183 | Matrix <float, 4, 1> retval; |
pmic | 7:bcbcc23983de | 184 | retval << x(4)*(u(2) - x(7)) - kv*x(3), |
pmic | 7:bcbcc23983de | 185 | - kv*x(4) - x(3)*(u(2) - x(7)), |
pmic | 7:bcbcc23983de | 186 | - m0(2)*s2 + c2*c3*m0(0) + c2*m0(1)*s3, |
pmic | 7:bcbcc23983de | 187 | - m0(0)*(c1*s3 - c3*s1*s2) + m0(1)*(c1*c3 + s1*s2*s3) + c2*m0(2)*s1; |
pmic | 0:a0e9705be9c4 | 188 | return retval; |
pmic | 0:a0e9705be9c4 | 189 | } |
pmic | 0:a0e9705be9c4 | 190 |