altb_pmic
Testing ekf implementation for Quadro_1.
Diff: EKF_RPY.cpp
- Revision:
- 0:a0e9705be9c4
- Child:
- 1:6b803652d032
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EKF_RPY.cpp Fri Oct 18 14:55:53 2019 +0000
@@ -0,0 +1,174 @@
+#include "EKF_RPY.h"
+
+using namespace std;
+using namespace Eigen;
+
+EKF_RPY::EKF_RPY(float Ts, float mx0, float my0, float mz0)
+{
+ this->Ts = Ts;
+ /* [n_gyro; n_v; n_b_g; n_b_m] */
+ var_fx << 1000, 1000, 1000, 10, 10, 20, 20, 20, 20, 20;
+ /* [n_acc; n_mag] */
+ var_gy << 40, 40, 0.1, 0.1;
+ rho = 5000;
+ kv = 0.5; /* k1/m */
+ wm = 0.0062832; /* 2*pi*0.001 */
+ g = 9.81;
+ m0 << mx0, my0, mz0;
+ reset();
+}
+
+EKF_RPY::~EKF_RPY() {}
+
+void EKF_RPY::reset()
+{
+ u.setZero();
+ y.setZero();
+ x.setZero();
+ update_F();
+ update_H();
+ initialize_Q();
+ initialize_R();
+ // P = Q;
+ /*
+ for(uint8_t i = 0; i < 10; i++) {
+ for(uint8_t j = 0; i < 10; j++) {
+ P(i,j) = Q(i,j);
+ }
+ }
+ */
+ K.setZero();
+ // I.setIdentity();
+ /*
+ for(uint8_t i = 0; i < 10; i++) {
+ for(uint8_t j = 0; i < 10; j++) {
+ if(i == j) I(i,j) = 1;
+ else I(i,j) = 0;
+ }
+ }
+ */
+}
+
+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)
+{/*
+ u << gyro_x, gyro_y, gyro_z;
+ y << accel_x, accel_y, magnet_x, magnet_y;
+
+ update_F();
+ update_H();
+ update_Q();
+
+ x = fxd();
+ P = F * P * F.transpose() + Q;
+
+ K = P * H.transpose() * ( H * P * H.transpose() + R ); //.inverse();
+
+ x = x + K * (y - gy());
+ P = (I - K * H) * P;
+*/}
+
+float EKF_RPY::get_est_state(uint8_t i)
+{
+ /* x = [ang; v; b_g; n_b_m] */
+ return x(i);
+}
+
+void EKF_RPY::update_angles()
+{
+ s1 = sinf(x(0));
+ c1 = cosf(x(0));
+ s2 = sinf(x(1));
+ c2 = cosf(x(1));
+ s3 = sinf(x(2));
+ c3 = cosf(x(2));
+}
+
+void EKF_RPY::update_F()
+{/*
+ F << Ts*((c1*s2*(u(1) - x(6)))/c2 - (s1*s2*(u(2) - x(7)))/c2) + 1, (Ts*(c1*u(2) - c1*x(7) + s1*u(1) - s1*x(6)))/(c2*c2), 0, 0, 0, -Ts, -(Ts*s1*s2)/c2, -(Ts*c1*s2)/c2, 0, 0,
+ -Ts*(c1*(u(2) - x(7)) + s1*(u(1) - x(6))), 1, 0, 0, 0, 0, -Ts*c1, Ts*s1, 0, 0,
+ Ts*((c1*(u(1) - x(6)))/c2 - (s1*(u(2) - x(7)))/c2), Ts*((c1*s2*(u(2) - x(7)))/(c2*c2) + (s1*s2*(u(1) - x(6)))/(c2*c2)), 1, 0, 0, 0, -(Ts*s1)/c2, -(Ts*c1)/c2, 0, 0,
+ 0, Ts*c2*g, 0, 1 - Ts*kv, Ts*(u(2) - x(7)), 0, 0, -Ts*x(4), 0, 0,
+ -Ts*c1*c2*g, Ts*g*s1*s2, 0, -Ts*(u(2) - x(7)), 1 - Ts*kv, 0, 0, Ts*x(3), 0, 0,
+ 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 1 - Ts*wm, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 - Ts*wm;
+*/}
+
+void EKF_RPY::update_H()
+{/*
+ H << 0, 0, 0, -kv, u(2) - x(7), 0, 0, -x(4), 0, 0,
+ 0, 0, 0, x(7) - u(2), -kv, 0, 0, x(3), 0, 0,
+ 0, - c2*m0(2) - c3*m0(0)*s2 - m0(1)*s2*s3, c2*(c3*m0(1) - m0(0)*s3), 0, 0, 0, 0, 0, 1, 0,
+ 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, 0, 0, 0, 0, 0, 1;
+*/}
+
+void EKF_RPY::initialize_R()
+{/*
+ R << rho*var_gy(0)/Ts, 0, 0, 0,
+ 0, rho*var_gy(1)/Ts, 0, 0,
+ 0, 0, rho*var_gy(2)/Ts, 0,
+ 0, 0, 0, rho*var_gy(3)/Ts;
+*/}
+
+void EKF_RPY::initialize_Q()
+{/*
+ Q << (Ts*(var_fx(2)*c1*c1*s2*s2 + var_fx(0)*c2*c2 + var_fx(1)*s1*s1*s2*s2))/(c2*c2), (Ts*c1*s1*s2*(var_fx(1) - var_fx(2)))/c2, -(Ts*s2*(var_fx(2) + s1*s1*(var_fx(1) - var_fx(2))))/(s2*s2 - 1), 0, 0, 0, 0, 0, 0, 0,
+ (Ts*c1*s1*s2*(var_fx(1) - var_fx(2)))/c2, Ts*(var_fx(1) - s1*s1*(var_fx(1) + var_fx(2))), Ts*(c1*s1*(var_fx(1) - var_fx(2)))/c2, 0, 0, 0, 0, 0, 0, 0,
+ -(Ts*s2*(var_fx(2) + s1*s1*(var_fx(1) - var_fx(2))))/(s2*s2 - 1), Ts*(c1*s1*(var_fx(1) - var_fx(2)))/c2, -(Ts*(var_fx(2) + s1*s1*(var_fx(1) - var_fx(2))))/(s2*s2 - 1), 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, Ts*var_fx(3), 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, Ts*var_fx(4), 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, Ts*var_fx(5), 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, Ts*var_fx(6), 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, Ts*var_fx(7), 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, Ts*var_fx(8), 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, Ts*var_fx(9);
+*/}
+
+void EKF_RPY::update_Q()
+{/*
+ Q(0,0) = (Ts*(var_fx(2)*c1*c1*s2*s2 + var_fx(0)*c2*c2 + var_fx(1)*s1*s1*s2*s2))/(c2*c2);
+ Q(0,1) = (Ts*c1*s1*s2*(var_fx(1) - var_fx(2)))/c2;
+ Q(0,2) = -(Ts*s2*(var_fx(2) + s1*s1*(var_fx(1) - var_fx(2))))/(s2*s2 - 1);
+ Q(1,0) = Q(0,1);
+ Q(1,1) = Ts*(var_fx(1) - s1*s1*(var_fx(1) + var_fx(2)));
+ Q(1,2) = Ts*(c1*s1*(var_fx(1) - var_fx(2)))/c2;
+ Q(2,0) = Q(0,2);
+ Q(2,1) = Q(1,2);
+ Q(2,2) = -(Ts*(var_fx(2) + s1*s1*(var_fx(1) - var_fx(2))))/(s2*s2 - 1);
+*/}
+
+Matrix <float, 10, 1> EKF_RPY::fxd()
+{
+ Matrix <float, 10, 1> retval;
+ retval.setZero();
+ /*
+ retval << x(0) + Ts*(u(0) - x(5) + (c1*s2*(u(2) - x(7)))/c2 + (s1*s2*(u(1) - x(6)))/c2),
+ x(1) + Ts*(c1*(u(1) - x(6)) - s1*(u(2) - x(7))),
+ x(2) + Ts*((c1*(u(2) - x(7)))/c2 + (s1*(u(1) - x(6)))/c2),
+ x(3) + Ts*(g*s2 - kv*x(3) + x(4)*(u(2) - x(7))),
+ x(4) - Ts*(kv*x(4) + x(3)*(u(2) - x(7)) + c2*g*s1),
+ x(5),
+ x(6),
+ x(7),
+ x(8) - Ts*wm*x(8),
+ x(9) - Ts*wm*x(9);
+ */
+ return retval;
+}
+
+Matrix <float, 4, 1> EKF_RPY::gy()
+{
+ Matrix <float, 4, 1> retval;
+ retval.setZero();
+ /*
+ retval << x(4)*(u(2) - x(7)) - kv*x(3),
+ - kv*x(4) - x(3)*(u(2) - x(7)),
+ x(8) - m0(2)*s2 + c2*c3*m0(0) + c2*m0(1)*s3,
+ x(9) - m0(0)*(c1*s3 - c3*s1*s2) + m0(1)*(c1*c3 + s1*s2*s3) + c2*m0(2)*s1;
+ */
+ return retval;
+}
+