altb_pmic / Mbed 2 deprecated Test_ekf

Testing ekf implementation for Quadro_1.

Dependencies:   mbed Eigen

EKF_RPY.cpp@20:0227c82a78c2, 2019-10-28 (annotated)

Committer:
pmic
Date:
Mon Oct 28 12:14:59 2019 +0000
Revision:
20:0227c82a78c2
Parent:
19:ccb6fc8bf872
Child:
21:aab1ac72095b
Change reset logic, so we get the same results at the beginning (reset) or arming (increase_diag_P).

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 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 7:bcbcc23983de 30 kv = 0.5f; /* k1/m */
pmic 7:bcbcc23983de 31 g = 9.81f;
pmic 19:ccb6fc8bf872 32 scale_P0 = 1000000.0f;
pmic 0:a0e9705be9c4 33 }
pmic 0:a0e9705be9c4 34
pmic 0:a0e9705be9c4 35 void EKF_RPY::reset()
pmic 0:a0e9705be9c4 36 {
pmic 0:a0e9705be9c4 37 u.setZero();
pmic 0:a0e9705be9c4 38 y.setZero();
pmic 0:a0e9705be9c4 39 x.setZero();
pmic 7:bcbcc23983de 40 update_angles();
pmic 7:bcbcc23983de 41 calc_F();
pmic 7:bcbcc23983de 42 calc_H();
pmic 0:a0e9705be9c4 43 initialize_Q();
pmic 0:a0e9705be9c4 44 initialize_R();
pmic 0:a0e9705be9c4 45 K.setZero();
pmic 7:bcbcc23983de 46 I.setIdentity();
pmic 13:2e03d9c03409 47 e.setZero();
pmic 20:0227c82a78c2 48 P = scale_P0 * I;
pmic 19:ccb6fc8bf872 49 }
pmic 19:ccb6fc8bf872 50
pmic 19:ccb6fc8bf872 51 void EKF_RPY::increase_diag_P()
pmic 19:ccb6fc8bf872 52 {
pmic 19:ccb6fc8bf872 53 P = P + scale_P0 * I;
pmic 7:bcbcc23983de 54 }
pmic 7:bcbcc23983de 55
pmic 12:180e09c4ea26 56 void EKF_RPY::set_m0(float mx0, float my0, float mz0)
pmic 12:180e09c4ea26 57 {
pmic 12:180e09c4ea26 58 m0 << mx0, my0, mz0;
pmic 12:180e09c4ea26 59 }
pmic 12:180e09c4ea26 60
pmic 7:bcbcc23983de 61 float EKF_RPY::get_est_state(uint8_t i)
pmic 7:bcbcc23983de 62 {
pmic 7:bcbcc23983de 63 /* x = [ang; v; b_g] = [0: phi
pmic 7:bcbcc23983de 64 1: theta
pmic 7:bcbcc23983de 65 2: psi
pmic 7:bcbcc23983de 66 3: b_gx
pmic 7:bcbcc23983de 67 4: b_gy
pmic 7:bcbcc23983de 68 5: b_gz
pmic 7:bcbcc23983de 69 6: vx
pmic 7:bcbcc23983de 70 7: vy] */
pmic 7:bcbcc23983de 71 return x(i);
pmic 0:a0e9705be9c4 72 }
pmic 0:a0e9705be9c4 73
pmic 0:a0e9705be9c4 74 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 75 {
pmic 0:a0e9705be9c4 76 u << gyro_x, gyro_y, gyro_z;
pmic 0:a0e9705be9c4 77 y << accel_x, accel_y, magnet_x, magnet_y;
pmic 7:bcbcc23983de 78 update_angles();
pmic 0:a0e9705be9c4 79
pmic 7:bcbcc23983de 80 calc_F();
pmic 7:bcbcc23983de 81 calc_H();
pmic 7:bcbcc23983de 82 calc_Q();
pmic 0:a0e9705be9c4 83
pmic 0:a0e9705be9c4 84 x = fxd();
pmic 0:a0e9705be9c4 85 P = F * P * F.transpose() + Q;
pmic 13:2e03d9c03409 86 e = y - gy();
pmic 0:a0e9705be9c4 87
pmic 17:1d98928f7681 88 /* inversion faster 356 mus < 432 mus recursion */
pmic 17:1d98928f7681 89 K = P * H.transpose() * ( H * P * H.transpose() + R ).inverse();
pmic 17:1d98928f7681 90 x = x + K * e;
pmic 17:1d98928f7681 91 P = (I - K * H) * P;
pmic 15:53485bd1ff28 92
pmic 13:2e03d9c03409 93 /* only valid if R is diagonal (uncorrelated noise) */
pmic 17:1d98928f7681 94 /*
pmic 16:c39e084f05ed 95 for(uint8_t i = 0; i < 4; i++) {
pmic 16:c39e084f05ed 96 K.col(i) = ( P * (H.row(i)).transpose() ) / ( H.row(i) * P * (H.row(i)).transpose() + R(i,i) );
pmic 16:c39e084f05ed 97 x = x + K.col(i) * e(i);
pmic 16:c39e084f05ed 98 P = (I - K.col(i)*H.row(i)) * P;
pmic 16:c39e084f05ed 99 }
pmic 17:1d98928f7681 100 */
pmic 0:a0e9705be9c4 101 }
pmic 0:a0e9705be9c4 102
pmic 0:a0e9705be9c4 103 void EKF_RPY::update_angles()
pmic 0:a0e9705be9c4 104 {
pmic 7:bcbcc23983de 105 s1 = sinf(x(0));
pmic 7:bcbcc23983de 106 c1 = cosf(x(0));
pmic 7:bcbcc23983de 107 s2 = sinf(x(1));
pmic 7:bcbcc23983de 108 c2 = cosf(x(1));
pmic 7:bcbcc23983de 109 s3 = sinf(x(2));
pmic 7:bcbcc23983de 110 c3 = cosf(x(2));
pmic 0:a0e9705be9c4 111 }
pmic 0:a0e9705be9c4 112
pmic 7:bcbcc23983de 113 void EKF_RPY::calc_F()
pmic 7:bcbcc23983de 114 {
pmic 7:bcbcc23983de 115 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 116 -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 117 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 118 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 119 -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 120 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 121 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
pmic 7:bcbcc23983de 122 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f;
pmic 7:bcbcc23983de 123 }
pmic 0:a0e9705be9c4 124
pmic 7:bcbcc23983de 125 void EKF_RPY::calc_H()
pmic 7:bcbcc23983de 126 {
pmic 7:bcbcc23983de 127 H << 0.0f, 0.0f, 0.0f, -kv, u(2) - x(7), 0.0f, 0.0f, -x(4),
pmic 7:bcbcc23983de 128 0.0f, 0.0f, 0.0f, x(7) - u(2), -kv, 0.0f, 0.0f, x(3),
pmic 7:bcbcc23983de 129 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 130 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 131 }
pmic 0:a0e9705be9c4 132
pmic 0:a0e9705be9c4 133 void EKF_RPY::initialize_R()
pmic 7:bcbcc23983de 134 {
pmic 7:bcbcc23983de 135 R << rho*var_gy(0)/Ts, 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 136 0.0f, rho*var_gy(1)/Ts, 0.0f, 0.0f,
pmic 7:bcbcc23983de 137 0.0f, 0.0f, rho*var_gy(2)/Ts, 0.0f,
pmic 7:bcbcc23983de 138 0.0f, 0.0f, 0.0f, rho*var_gy(3)/Ts;
pmic 7:bcbcc23983de 139 }
pmic 0:a0e9705be9c4 140
pmic 0:a0e9705be9c4 141 void EKF_RPY::initialize_Q()
pmic 7:bcbcc23983de 142 {
pmic 7:bcbcc23983de 143 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 144 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 145 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 146 0.0f, 0.0f, 0.0f, Ts*var_fx(3), 0.0f, 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 147 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(4), 0.0f, 0.0f, 0.0f,
pmic 7:bcbcc23983de 148 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(5), 0.0f, 0.0f,
pmic 7:bcbcc23983de 149 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(6), 0.0f,
pmic 7:bcbcc23983de 150 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, Ts*var_fx(7);
pmic 7:bcbcc23983de 151 }
pmic 0:a0e9705be9c4 152
pmic 7:bcbcc23983de 153 void EKF_RPY::calc_Q()
pmic 7:bcbcc23983de 154 {
pmic 7:bcbcc23983de 155 Q(0,0) = Ts*(var_fx(0) + (c1*c1*var_fx(2) + s1*s1*var_fx(1))*s2*s2/(c2*c2));
pmic 7:bcbcc23983de 156 Q(0,1) = Ts*(var_fx(1) - var_fx(2))*c1*s1*s2/c2;
pmic 7:bcbcc23983de 157 Q(0,2) = Ts*(c1*c1*var_fx(2) + s1*s1*var_fx(1))*s2/(c2*c2);
pmic 0:a0e9705be9c4 158 Q(1,0) = Q(0,1);
pmic 7:bcbcc23983de 159 Q(1,1) = Ts*(var_fx(1)*c1*c1 + var_fx(2)*s1*s1);
pmic 7:bcbcc23983de 160 Q(1,2) = Ts*(var_fx(1) - var_fx(2))*c1*s1/c2;
pmic 0:a0e9705be9c4 161 Q(2,0) = Q(0,2);
pmic 0:a0e9705be9c4 162 Q(2,1) = Q(1,2);
pmic 7:bcbcc23983de 163 Q(2,2) = Ts*(c1*c1*var_fx(2) + s1*s1*var_fx(1))/(c2*c2);
pmic 7:bcbcc23983de 164 }
pmic 0:a0e9705be9c4 165
pmic 7:bcbcc23983de 166 Matrix <float, 8, 1> EKF_RPY::fxd()
pmic 0:a0e9705be9c4 167 {
pmic 7:bcbcc23983de 168 Matrix <float, 8, 1> retval;
pmic 0:a0e9705be9c4 169 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 170 x(1) + Ts*(c1*(u(1) - x(6)) - s1*(u(2) - x(7))),
pmic 0:a0e9705be9c4 171 x(2) + Ts*((c1*(u(2) - x(7)))/c2 + (s1*(u(1) - x(6)))/c2),
pmic 0:a0e9705be9c4 172 x(3) + Ts*(g*s2 - kv*x(3) + x(4)*(u(2) - x(7))),
pmic 0:a0e9705be9c4 173 x(4) - Ts*(kv*x(4) + x(3)*(u(2) - x(7)) + c2*g*s1),
pmic 0:a0e9705be9c4 174 x(5),
pmic 0:a0e9705be9c4 175 x(6),
pmic 7:bcbcc23983de 176 x(7);
pmic 0:a0e9705be9c4 177 return retval;
pmic 0:a0e9705be9c4 178 }
pmic 0:a0e9705be9c4 179
pmic 0:a0e9705be9c4 180 Matrix <float, 4, 1> EKF_RPY::gy()
pmic 0:a0e9705be9c4 181 {
pmic 0:a0e9705be9c4 182 Matrix <float, 4, 1> retval;
pmic 7:bcbcc23983de 183 retval << x(4)*(u(2) - x(7)) - kv*x(3),
pmic 7:bcbcc23983de 184 - kv*x(4) - x(3)*(u(2) - x(7)),
pmic 7:bcbcc23983de 185 - m0(2)*s2 + c2*c3*m0(0) + c2*m0(1)*s3,
pmic 7:bcbcc23983de 186 - m0(0)*(c1*s3 - c3*s1*s2) + m0(1)*(c1*c3 + s1*s2*s3) + c2*m0(2)*s1;
pmic 0:a0e9705be9c4 187 return retval;
pmic 0:a0e9705be9c4 188 }
pmic 0:a0e9705be9c4 189