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Testing ekf implementation for Quadro_1.
EKF_RP.cpp
- Committer:
- pmic
- Date:
- 2019-10-18
- Revision:
- 0:a0e9705be9c4
- Child:
- 1:6b803652d032
File content as of revision 0:a0e9705be9c4:
#include "EKF_RP.h" using namespace std; using namespace Eigen; EKF_RP::EKF_RP(float Ts) { this->Ts = Ts; /* [n_gyro; n_b_g; n_v] */ var_fx << 1000, 1000, 20, 20, 10, 10; /* [n_acc] */ var_gy << 40, 40; rho = 5000; kv = 0.5; /* k1/m */ g = 9.81; reset(); } EKF_RP::~EKF_RP() {} void EKF_RP::reset() { u.setZero(); y.setZero(); x.setZero(); update_F(); update_H(); initialize_Q(); initialize_R(); P = Q; K.setZero(); I.setIdentity(); } void EKF_RP::update(float gyro_x, float gyro_y, float accel_x, float accel_y) { // u << gyro_x, gyro_y; // y << accel_x, accel_y; // update_F(); // update_H(); /* H remains constant */ // 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_RP::get_est_state(uint8_t i) { /* x = [ang; b_g; v] */ return x(i); } void EKF_RP::update_angles() { s1 = sinf(x(0)); c1 = cosf(x(0)); s2 = sinf(x(1)); c2 = cosf(x(1)); } void EKF_RP::update_F() { F << (Ts*c1*s2*(u(1) - x(3)))/c2 + 1, -(Ts*s1*(u(1) - x(3)))/(s2*s2 - 1), -Ts, -(Ts*s1*s2)/c2, 0, 0, -Ts*s1*(u(1) - x(3)), 1, 0, -Ts*c1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, Ts*c2*g, 0, 0, 1 - Ts*kv, 0, -Ts*c1*c2*g, Ts*g*s1*s2, 0, 0, 0, 1 - Ts*kv; } void EKF_RP::update_H() { H << 0, 0, 0, 0, -kv, 0, 0, 0, 0, 0, 0, -kv; } void EKF_RP::initialize_R() { R << rho*var_gy(0)/Ts, 0, 0, rho*var_gy(1)/Ts; } void EKF_RP::initialize_Q() { Q << Ts*(var_fx(0) + (s1*s1*s2*s2*var_fx(1))/(c2*c2)), (Ts*c1*s1*s2*var_fx(1))/c2, 0, 0, 0, 0, (Ts*c1*s1*s2*var_fx(1))/c2, Ts*c1*c1*var_fx(1), 0, 0, 0, 0, 0, 0, Ts*var_fx(3), 0, 0, 0, 0, 0, 0, Ts*var_fx(4), 0, 0, 0, 0, 0, 0, Ts*var_fx(5), 0, 0, 0, 0, 0, 0, Ts*var_fx(6); } void EKF_RP::update_Q() { Q(0,0) = Ts*(var_fx(0) + (s1*s1*s2*s2*var_fx(1))/(c2*c2)); Q(0,1) = Ts*c1*s1*s2*var_fx(1)/c2; Q(1,0) = Q(0,1); Q(1,1) = Ts*c1*c1*var_fx(1); } Matrix <float, 6, 1> EKF_RP::fxd() { Matrix <float, 6, 1> retval; retval << x(0) + Ts*(u(0) - x(2) + (s1*s2*(u(1) - x(3)))/c2), x(1) + Ts*c1*(u(1) - x(3)), x(2), x(3), x(4) + Ts*(g*s2 - kv*x(4)), x(5) - Ts*(kv*x(5) + c2*g*s1); return retval; } Matrix <float, 2, 1> EKF_RP::gy() { Matrix <float, 2, 1> retval; retval << -kv*x(4), -kv*x(5); return retval; }