altb_pmic
Testing ekf implementation for Quadro_1.
EKF_RPY.cpp
- Committer:
- pmic
- Date:
- 2019-10-18
- Revision:
- 0:a0e9705be9c4
- Child:
- 1:6b803652d032
File content as of revision 0:a0e9705be9c4:
#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;
}