IMU - | Mbed

Users » higedura » Code » IMU

main.cpp@2:78c3d0598819, 2012-02-15 (annotated)

Committer:: higedura
Date:: Wed Feb 15 07:02:08 2012 +0000
Revision:: 2:78c3d0598819
Parent:: 1:aca0c191fb1c
Child:: 3:9f3e1a43f68f

Who changed what in which revision?

User	Revision	Line number	New contents of line
higedura	2:78c3d0598819	1	// IMU for Sparkfun 9DOF Sensor Stick
higedura	2:78c3d0598819	2
higedura	2:78c3d0598819	3	#include "ADXL345_I2C.h"
higedura	2:78c3d0598819	4	#include "ITG3200.h"
higedura	2:78c3d0598819	5	#include "HMC5883L.h"
higedura	2:78c3d0598819	6
higedura	2:78c3d0598819	7	DigitalOut led1(LED1);
higedura	2:78c3d0598819	8	DigitalOut led2(LED2);
higedura	2:78c3d0598819	9	DigitalOut led3(LED3);
higedura	2:78c3d0598819	10	DigitalOut led4(LED4);
higedura	2:78c3d0598819	11	ADXL345_I2C accelerometer(p9, p10);
higedura	2:78c3d0598819	12	ITG3200 gyro(p9, p10);
higedura	2:78c3d0598819	13	HMC5883L compass(p9, p10);
higedura	2:78c3d0598819	14	Serial pc(USBTX, USBRX);
higedura	2:78c3d0598819	15
higedura	2:78c3d0598819	16	#define pi 3.14159265
higedura	2:78c3d0598819	17
higedura	2:78c3d0598819	18	#define N 3
higedura	2:78c3d0598819	19	#define N_LWMA 10
higedura	2:78c3d0598819	20
higedura	2:78c3d0598819	21	double* RK4( double, double[N], double[N] );
higedura	2:78c3d0598819	22	double* func( double[N], double[N] );
higedura	2:78c3d0598819	23	double* LWMA( double[N] );
higedura	2:78c3d0598819	24	double* EKF_predict( double[N], double[N] );
higedura	2:78c3d0598819	25	double* EKF_correct( double[N], double[N], double[N] );
higedura	2:78c3d0598819	26
higedura	2:78c3d0598819	27	// 0 1 2
higedura	2:78c3d0598819	28	// [ accXn-1 accXn-2 ... ] 0
higedura	2:78c3d0598819	29	// zBuf = [ accYn-1 accYn-2 ... ] 1
higedura	2:78c3d0598819	30	// [ accZn-1 accZn-2 ... ] 2
higedura	2:78c3d0598819	31	double z_buf[N][N_LWMA] = {0}; // For LWMA
higedura	2:78c3d0598819	32
higedura	2:78c3d0598819	33	double P[N][N] = {{1,0,0},{0,1,0},{0,0,1}}; // For EKF
higedura	2:78c3d0598819	34
higedura	2:78c3d0598819	35	int main(){
higedura	2:78c3d0598819	36
higedura	2:78c3d0598819	37	pc.baud(921600);
higedura	2:78c3d0598819	38
higedura	2:78c3d0598819	39	// loop
higedura	2:78c3d0598819	40	int correct_loop = 0;
higedura	2:78c3d0598819	41	int calib_loop = 1000;
higedura	2:78c3d0598819	42
higedura	2:78c3d0598819	43	double dt = 0.01;
higedura	2:78c3d0598819	44	double t = 0;
higedura	2:78c3d0598819	45
higedura	2:78c3d0598819	46	int bit_acc[N] = {0}; // Buffer of the accelerometer
higedura	2:78c3d0598819	47	int get_mag[N] = {0}; // Buffer of the compass
higedura	2:78c3d0598819	48
higedura	2:78c3d0598819	49	// For calibration routine
higedura	2:78c3d0598819	50	double calib_acc[N] = {0};
higedura	2:78c3d0598819	51	double calib_gyro_buf[N] = {0};
higedura	2:78c3d0598819	52	double calib_gyro[N] = {0};
higedura	2:78c3d0598819	53	double compass_basis_buf[N] = {0};
higedura	2:78c3d0598819	54	double compass_basis_rad = 0;
higedura	2:78c3d0598819	55
higedura	2:78c3d0598819	56	// For getting data
higedura	2:78c3d0598819	57	double acc[N] = {0};
higedura	2:78c3d0598819	58	double gyro_deg[N] = {0};
higedura	2:78c3d0598819	59	double gyro_rad[N] = {0};
higedura	2:78c3d0598819	60	int mag[N] = {0};
higedura	2:78c3d0598819	61
higedura	2:78c3d0598819	62	// For measurement algorithm
higedura	2:78c3d0598819	63	double ang_acc[2] = {0};
higedura	2:78c3d0598819	64	double ang_deg[N] = {0};
higedura	2:78c3d0598819	65	double ang_rad[N] = {0};
higedura	2:78c3d0598819	66	double zLWMA[N] = {0};
higedura	2:78c3d0598819	67	double compass_rad = 0;
higedura	2:78c3d0598819	68	double compass_deg = 0;
higedura	2:78c3d0598819	69
higedura	2:78c3d0598819	70	for( int i=0;i<N_LWMA;i++ ){
higedura	2:78c3d0598819	71	z_buf[2][i] = 1;
higedura	2:78c3d0598819	72	}
higedura	2:78c3d0598819	73
higedura	2:78c3d0598819	74	double* p_ang_RK4;
higedura	2:78c3d0598819	75	double* p_ang_EKF;
higedura	2:78c3d0598819	76	double* p_zLWMA_buf;
higedura	2:78c3d0598819	77
higedura	2:78c3d0598819	78	// * Setting up accelerometer *
higedura	2:78c3d0598819	79	// These are here to test whether any of the initialization fails. It will print the failure.
higedura	2:78c3d0598819	80	if(accelerometer.setPowerControl(0x00)){
higedura	2:78c3d0598819	81	pc.printf("didn't intitialize power control\n\r");
higedura	2:78c3d0598819	82	return 0;
higedura	2:78c3d0598819	83	}
higedura	2:78c3d0598819	84	// Full resolution, +/-16g, 4mg/LSB.
higedura	2:78c3d0598819	85	wait(.001);
higedura	2:78c3d0598819	86
higedura	2:78c3d0598819	87	if(accelerometer.setDataFormatControl(0x0B)){
higedura	2:78c3d0598819	88	pc.printf("didn't set data format\n\r");
higedura	2:78c3d0598819	89	return 0; }
higedura	2:78c3d0598819	90	wait(.001);
higedura	2:78c3d0598819	91
higedura	2:78c3d0598819	92	// 3.2kHz data rate.
higedura	2:78c3d0598819	93	if(accelerometer.setDataRate(ADXL345_3200HZ)){
higedura	2:78c3d0598819	94	pc.printf("didn't set data rate\n\r");
higedura	2:78c3d0598819	95	return 0;
higedura	2:78c3d0598819	96	}
higedura	2:78c3d0598819	97	wait(.001);
higedura	2:78c3d0598819	98
higedura	2:78c3d0598819	99	if(accelerometer.setPowerControl(MeasurementMode)) {
higedura	2:78c3d0598819	100	pc.printf("didn't set the power control to measurement\n\r");
higedura	2:78c3d0598819	101	return 0;
higedura	2:78c3d0598819	102	}
higedura	2:78c3d0598819	103	// * Setting up accelerometer *
higedura	2:78c3d0598819	104
higedura	2:78c3d0598819	105	// * Setting up gyro *
higedura	2:78c3d0598819	106	gyro.setLpBandwidth(LPFBW_42HZ);
higedura	2:78c3d0598819	107
higedura	2:78c3d0598819	108	// * Setting up compass *
higedura	2:78c3d0598819	109	compass.setDefault();
higedura	2:78c3d0598819	110
higedura	2:78c3d0598819	111	// Wait some time for all sensors (Need at least 5ms)
higedura	2:78c3d0598819	112	wait(0.1);
higedura	2:78c3d0598819	113
higedura	2:78c3d0598819	114	// * Calibration routine *
higedura	2:78c3d0598819	115	pc.printf("\n\rDont touch!! Calibrating now ...\n\r");
higedura	2:78c3d0598819	116	led1 = 1;
higedura	2:78c3d0598819	117	for( int i=0;i<calib_loop;i++ ){
higedura	2:78c3d0598819	118	accelerometer.getOutput(bit_acc);
higedura	2:78c3d0598819	119	compass.readData(get_mag);
higedura	2:78c3d0598819	120	calib_gyro_buf[0] = gyro.getGyroX();
higedura	2:78c3d0598819	121	calib_gyro_buf[1] = gyro.getGyroY();
higedura	2:78c3d0598819	122	calib_gyro_buf[2] = gyro.getGyroZ();
higedura	2:78c3d0598819	123	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	124	calib_acc[j] += (int16_t)bit_acc[j];
higedura	2:78c3d0598819	125	calib_gyro[j] += calib_gyro_buf[j];
higedura	2:78c3d0598819	126	compass_basis_buf[j] += (int16_t)get_mag[j];
higedura	2:78c3d0598819	127	}
higedura	2:78c3d0598819	128	if( i>calib_loop*3/4 ){
higedura	2:78c3d0598819	129	led4 = 1;
higedura	2:78c3d0598819	130	}else if( i>calib_loop/2 ){
higedura	2:78c3d0598819	131	led3 = 1;
higedura	2:78c3d0598819	132	}else if( i>calib_loop/4 ){
higedura	2:78c3d0598819	133	led2 = 1;
higedura	2:78c3d0598819	134	}
higedura	2:78c3d0598819	135	}
higedura	2:78c3d0598819	136	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	137	calib_acc[i] = calib_acc[i]/calib_loop;
higedura	2:78c3d0598819	138	calib_gyro[i] = calib_gyro[i]/calib_loop;
higedura	2:78c3d0598819	139	compass_basis_buf[i] = compass_basis_buf[i]/calib_loop;
higedura	2:78c3d0598819	140	}
higedura	2:78c3d0598819	141	compass_basis_rad = compass_basis_buf[1]/compass_basis_buf[0];
higedura	2:78c3d0598819	142	compass_basis_rad = atan(compass_basis_rad);
higedura	2:78c3d0598819	143	led1 = 0; led2 = 0; led3 = 0; led4 = 0;
higedura	2:78c3d0598819	144	pc.printf("accX accY accZ gyroX gyroY gyroZ yaw_basis\n\r");
higedura	2:78c3d0598819	145	pc.printf("%f, %f, %f, %f, %f, %f, %f\n\r",calib_acc[0],calib_acc[1],calib_acc[2],calib_gyro[0],calib_gyro[1],calib_gyro[2],compass_basis_rad*180/pi);
higedura	2:78c3d0598819	146	for( int i=0;i<3;i++ ){
higedura	2:78c3d0598819	147	wait(0.5);
higedura	2:78c3d0598819	148	led1 = 1; led2 = 1; led3 = 1; led4 = 1;
higedura	2:78c3d0598819	149	wait(0.5);
higedura	2:78c3d0598819	150	led1 = 0; led2 = 0; led3 = 0; led4 = 0;
higedura	2:78c3d0598819	151	}
higedura	2:78c3d0598819	152	// * Calibration routine *
higedura	2:78c3d0598819	153
higedura	2:78c3d0598819	154	pc.printf("Starting IMU unit \n\r");
higedura	2:78c3d0598819	155	pc.printf(" Time AccX AccY AccZ GyroX GyroY GyroZ MagX MagY MagZ\n\r");
higedura	2:78c3d0598819	156	while(1){
higedura	2:78c3d0598819	157
higedura	2:78c3d0598819	158	// Updating accelerometer and compass
higedura	2:78c3d0598819	159	accelerometer.getOutput(bit_acc);
higedura	2:78c3d0598819	160	compass.readData(get_mag);
higedura	2:78c3d0598819	161
higedura	2:78c3d0598819	162	// Transfering units (Acc[g], Gyro[deg/s], Compass[Ga])
higedura	2:78c3d0598819	163	acc[0] = ((int16_t)bit_acc[0]-calib_acc[0])*0.004;
higedura	2:78c3d0598819	164	acc[1] = ((int16_t)bit_acc[1]-calib_acc[1])*0.004;
higedura	2:78c3d0598819	165	acc[2] = ((int16_t)bit_acc[2]-calib_acc[2])*0.004+1;
higedura	2:78c3d0598819	166
higedura	2:78c3d0598819	167	for( int i=0;i<N;i++ ){ gyro_deg[i] = (gyro.getGyroX()-calib_gyro[i])/14.375; }
higedura	2:78c3d0598819	168
higedura	2:78c3d0598819	169	for( int i=0;i<N;i++ ){ mag[0] = (int16_t)get_mag[0]; }
higedura	2:78c3d0598819	170
higedura	2:78c3d0598819	171	// Low pass filter for acc
higedura	2:78c3d0598819	172	//for( int i=0;i<N;i++ ){ if( -0.05<acc[i] && acc[i]<0.05 ){ acc[i] = 0; } }
higedura	2:78c3d0598819	173	for( int i=0;i<N;i++ ){ if( acc[i]<-2 ){ acc[i] = -2; } }
higedura	2:78c3d0598819	174	for( int i=0;i<N;i++ ){ if( acc[i]>2 ){ acc[i] = 2; } }
higedura	2:78c3d0598819	175
higedura	2:78c3d0598819	176	// Low pass filter for gyro
higedura	2:78c3d0598819	177	for( int i=0;i<N;i++ ){ if( -0.5<gyro_deg[i] && gyro_deg[i]<0.5 ){ gyro_deg[i] = 0; } }
higedura	2:78c3d0598819	178
higedura	2:78c3d0598819	179	for( int i=0;i<N;i++ ){ gyro_rad[i] = gyro_deg[i]*pi/180; }
higedura	2:78c3d0598819	180
higedura	2:78c3d0598819	181	// Compass yaw
higedura	2:78c3d0598819	182	compass_rad = (double)mag[1]/mag[0];
higedura	2:78c3d0598819	183	compass_rad = atan(compass_rad);
higedura	2:78c3d0598819	184	//compass_rad = compass_rad-compass_basis_rad;
higedura	2:78c3d0598819	185	compass_deg = compass_rad*180/pi;
higedura	2:78c3d0598819	186
higedura	2:78c3d0598819	187	// LWMA (Observation)
higedura	2:78c3d0598819	188	p_zLWMA_buf = LWMA(acc);
higedura	2:78c3d0598819	189	for( int i=0;i<N;i++ ){ zLWMA[i] = *p_zLWMA_buf; p_zLWMA_buf = p_zLWMA_buf+1; }
higedura	2:78c3d0598819	190	// LWMA angle
higedura	2:78c3d0598819	191	if( zLWMA[2]>0.98 ){
higedura	2:78c3d0598819	192	for( int i=0;i<2;i++ ){ ang_acc[i] = 0; }
higedura	2:78c3d0598819	193	}else{
higedura	2:78c3d0598819	194	ang_acc[0] = asin(-zLWMA[1])*180/pi;
higedura	2:78c3d0598819	195	ang_acc[1] = asin(zLWMA[0])*180/pi;
higedura	2:78c3d0598819	196	}
higedura	2:78c3d0598819	197
higedura	2:78c3d0598819	198	// RK4 (Prediction)
higedura	2:78c3d0598819	199	p_ang_RK4 = RK4(dt,ang_rad,gyro_rad);
higedura	2:78c3d0598819	200	for( int i=0;i<N;i++ ){ ang_rad[i] = *p_ang_RK4; p_ang_RK4 = p_ang_RK4+1; }
higedura	2:78c3d0598819	201
higedura	2:78c3d0598819	202	// EKF (Correction)
higedura	2:78c3d0598819	203	EKF_predict(ang_rad,gyro_rad);
higedura	2:78c3d0598819	204	correct_loop++;
higedura	2:78c3d0598819	205	if (correct_loop>=3){
higedura	2:78c3d0598819	206	p_ang_EKF = EKF_correct(ang_rad,gyro_rad,zLWMA);
higedura	2:78c3d0598819	207	for ( int i=0;i<N;i++ ){ ang_deg[i] = *p_ang_EKF; p_ang_EKF = p_ang_EKF+1; }
higedura	2:78c3d0598819	208	correct_loop = 0;
higedura	2:78c3d0598819	209	}
higedura	2:78c3d0598819	210	for( int i=0;i<N;i++ ){ ang_deg[i] = ang_rad[i]*180/pi; }
higedura	2:78c3d0598819	211
higedura	2:78c3d0598819	212	//pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f, %5d, %5d, %5d\n\r", t, acc[0], acc[1], acc[2], gyro_deg[0], gyro_deg[1], gyro_deg[2], mag[0], mag[1], mag[2]);
higedura	2:78c3d0598819	213	//pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f\n\r", t, acc[0], acc[1], acc[2], gyro_deg[0], gyro_deg[1], gyro_deg[2]);
higedura	2:78c3d0598819	214	//pc.printf("%7.2f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f\n\r", t, gyro_deg[0], gyro_deg[1], gyro_deg[2], ang_deg[0], ang_deg[1], ang_deg[2]);
higedura	2:78c3d0598819	215	//pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.3f, %7.3f, %7.3f\n\r", t, acc[0], acc[1], acc[2], zLWMA[0], zLWMA[1], zLWMA[2]);
higedura	2:78c3d0598819	216	//pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.3f, %7.3f\n\r", t, zLWMA[0], zLWMA[1], zLWMA[2], ang_acc[0], ang_acc[1]);
higedura	2:78c3d0598819	217	//pc.printf("%d, %d, %f\n\r",mag[0], mag[1], compass_deg);
higedura	2:78c3d0598819	218	pc.printf("%7.2f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f\n\r", t, ang_acc[0], ang_acc[1], ang_deg[0], ang_deg[1], ang_deg[2]);
higedura	2:78c3d0598819	219
higedura	2:78c3d0598819	220	wait(dt);
higedura	2:78c3d0598819	221	t += dt;
higedura	2:78c3d0598819	222
higedura	2:78c3d0598819	223	}
higedura	2:78c3d0598819	224	}
higedura	2:78c3d0598819	225
higedura	2:78c3d0598819	226
higedura	2:78c3d0598819	227	double* EKF_predict( double y[N], double x[N] ){
higedura	2:78c3d0598819	228	// x = F * x;
higedura	2:78c3d0598819	229	// P = F * P * F' + G * Q * G';
higedura	2:78c3d0598819	230
higedura	2:78c3d0598819	231	double Q[N][N] = { {0.1, 0, 0}, {0, 0.1, 0}, {0, 0, 0.1} };
higedura	2:78c3d0598819	232
higedura	2:78c3d0598819	233	double Fjac[N][N] = {{x[1]cos(y[0])tan(y[1])-x[2]sin(y[0])tan(y[1]), x[1]sin(y[0])/(cos(y[1])cos(y[1]))+x[2]cos(y[0])/(cos(y[1])cos(y[1])), 0}, {-x[1]sin(y[0])-x[2]cos(y[0]), 0, 0}, {x[1]cos(y[0])/cos(y[1])-x[2]sin(y[0])/cos(y[1]), x[1]sin(y[0])sin(y[1])/(cos(y[1])cos(y[1]))+x[2]cos(y[0])sin(y[1])/(cos(y[1])cos(y[1])), 0}};
higedura	2:78c3d0598819	234	double Fjac_t[N][N] = {{x[1]cos(y[0])tan(y[1])-x[2]sin(y[0])tan(y[1]), -x[1]sin(y[0])-x[2]cos(y[0]), x[1]cos(y[0])/cos(y[1])-x[2]sin(y[0])/cos(y[1])}, {x[1]sin(y[0])/(cos(y[1])cos(y[1]))+x[2]cos(y[0])/(cos(y[1])cos(y[1])), 0, x[1]sin(y[0])sin(y[1])/(cos(y[1])cos(y[1]))+x[2]cos(y[0])sin(y[1])/(cos(y[1])cos(y[1]))}, {0, 0, 0}};
higedura	2:78c3d0598819	235	double Gjac[N][N] = {{1, sin(y[0])tan(y[1]), cos(y[0])tan(y[1])}, {0, cos(y[0]), -sin(y[0])}, {0, sin(y[0])/cos(y[1]), cos(y[0])/cos(y[1])}};
higedura	2:78c3d0598819	236	double Gjac_t[N][N] = {{1, 0, 0}, {sin(y[0])tan(y[1]), cos(y[0]), sin(y[0])/cos(y[1])}, {cos(y[0])tan(y[1]), -sin(y[0]), cos(y[0])/cos(y[1])}};
higedura	2:78c3d0598819	237
higedura	2:78c3d0598819	238	double FPF[N][N] = {0};
higedura	2:78c3d0598819	239	double GQG[N][N] = {0};
higedura	2:78c3d0598819	240
higedura	2:78c3d0598819	241	double FP[N][N] = {0};
higedura	2:78c3d0598819	242	double GQ[N][N] = {0};
higedura	2:78c3d0598819	243
higedura	2:78c3d0598819	244	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	245	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	246	for( int k=0;k<N;k++ ){
higedura	2:78c3d0598819	247	FP[i][j] += Fjac[i][k]*P[k][j];
higedura	2:78c3d0598819	248	GQ[i][j] += Gjac[i][k]*Q[k][j];
higedura	2:78c3d0598819	249
higedura	2:78c3d0598819	250	}
higedura	2:78c3d0598819	251	}
higedura	2:78c3d0598819	252	}
higedura	2:78c3d0598819	253
higedura	2:78c3d0598819	254	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	255	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	256	for( int k=0;k<N;k++ ){
higedura	2:78c3d0598819	257	FPF[i][j] += FP[i][k]*Fjac_t[k][j];
higedura	2:78c3d0598819	258	GQG[i][j] += GQ[i][k]*Gjac_t[k][j];
higedura	2:78c3d0598819	259	}
higedura	2:78c3d0598819	260	}
higedura	2:78c3d0598819	261	}
higedura	2:78c3d0598819	262	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	263	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	264	P[i][j] = FPF[i][j]+GQG[i][j];
higedura	2:78c3d0598819	265	}
higedura	2:78c3d0598819	266	}
higedura	2:78c3d0598819	267
higedura	2:78c3d0598819	268	return 0;
higedura	2:78c3d0598819	269
higedura	2:78c3d0598819	270	}
higedura	2:78c3d0598819	271
higedura	2:78c3d0598819	272	double* EKF_correct( double y[N], double x[N], double z[N] ){
higedura	2:78c3d0598819	273	// K = P * H' / ( H * P * H' + R )
higedura	2:78c3d0598819	274	// x = x + K * ( yobs(t) - H * x )
higedura	2:78c3d0598819	275	// P = P - K * H * P
higedura	2:78c3d0598819	276
higedura	2:78c3d0598819	277	double R[N][N] = { {0.15, 0, 0}, {0, 0.15, 0}, {0, 0, 0.15} };
higedura	2:78c3d0598819	278
higedura	2:78c3d0598819	279	double Hjac[N][N] = {{0, cos(y[1]), 0}, {cos(y[0]), 0, 0}, {-sin(y[0])cos(y[1]), -cos(y[0])sin(y[1]), 0}};
higedura	2:78c3d0598819	280	double Hjac_t[N][N] = {{0, cos(y[0]), -sin(y[0])cos(y[1])}, {cos(y[1]), 0, -cos(y[0])sin(y[1])}, {0, 0, 0}};
higedura	2:78c3d0598819	281	double K[N][N] = {0}; // Kalman gain
higedura	2:78c3d0598819	282	double K_deno[N][N] = {0}; // Denominator of the kalman gain
higedura	2:78c3d0598819	283	double det_K_deno_inv = 0;
higedura	2:78c3d0598819	284	double K_deno_inv[N][N] = {0};
higedura	2:78c3d0598819	285	double HPH[N][N] = {0};
higedura	2:78c3d0598819	286	double HP[N][N] = {0};
higedura	2:78c3d0598819	287	double PH[N][N] = {0};
higedura	2:78c3d0598819	288	double KHP[N][N] = {0};
higedura	2:78c3d0598819	289
higedura	2:78c3d0598819	290	double Hx[N] = {0};
higedura	2:78c3d0598819	291	double z_Hx[N] = {0};
higedura	2:78c3d0598819	292	double Kz_Hx[N] = {0};
higedura	2:78c3d0598819	293
higedura	2:78c3d0598819	294	double* py = y;
higedura	2:78c3d0598819	295
higedura	2:78c3d0598819	296	// Kalman gain
higedura	2:78c3d0598819	297	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	298	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	299	for( int k=0;k<N;k++ ){
higedura	2:78c3d0598819	300	HP[i][j] += Hjac[i][k]*P[k][j];
higedura	2:78c3d0598819	301	PH[i][j] += P[i][k]*Hjac_t[k][j];
higedura	2:78c3d0598819	302	}
higedura	2:78c3d0598819	303	}
higedura	2:78c3d0598819	304	}
higedura	2:78c3d0598819	305	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	306	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	307	for( int k=0;k<N;k++ ){
higedura	2:78c3d0598819	308	HPH[i][j] += HP[i][k]*Hjac_t[k][j];
higedura	2:78c3d0598819	309	}
higedura	2:78c3d0598819	310	}
higedura	2:78c3d0598819	311	}
higedura	2:78c3d0598819	312	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	313	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	314	K_deno[i][j] = HPH[i][j]+R[i][j];
higedura	2:78c3d0598819	315	}
higedura	2:78c3d0598819	316	}
higedura	2:78c3d0598819	317	// Inverce
higedura	2:78c3d0598819	318	det_K_deno_inv = K_deno[0][0]K_deno[1][1]K_deno[2][2]+K_deno[1][0]K_deno[2][1]K_deno[0][2]+K_deno[2][0]K_deno[0][1]K_deno[1][2]-K_deno[0][0]K_deno[2][1]K_deno[1][2]-K_deno[2][0]K_deno[1][1]K_deno[0][2]-K_deno[1][0]K_deno[0][1]K_deno[2][2];
higedura	2:78c3d0598819	319	K_deno_inv[0][0] = (K_deno[1][1]K_deno[2][2]-K_deno[1][2]K_deno[2][1])/det_K_deno_inv;
higedura	2:78c3d0598819	320	K_deno_inv[0][1] = (K_deno[0][2]K_deno[2][1]-K_deno[0][1]K_deno[2][2])/det_K_deno_inv;
higedura	2:78c3d0598819	321	K_deno_inv[0][2] = (K_deno[0][1]K_deno[1][2]-K_deno[0][2]K_deno[1][1])/det_K_deno_inv;
higedura	2:78c3d0598819	322	K_deno_inv[1][0] = (K_deno[1][2]K_deno[2][0]-K_deno[1][0]K_deno[2][2])/det_K_deno_inv;
higedura	2:78c3d0598819	323	K_deno_inv[1][1] = (K_deno[0][0]K_deno[2][2]-K_deno[0][2]K_deno[2][0])/det_K_deno_inv;
higedura	2:78c3d0598819	324	K_deno_inv[1][2] = (K_deno[0][2]K_deno[1][0]-K_deno[0][0]K_deno[1][2])/det_K_deno_inv;
higedura	2:78c3d0598819	325	K_deno_inv[2][0] = (K_deno[1][0]K_deno[2][1]-K_deno[1][1]K_deno[2][0])/det_K_deno_inv;
higedura	2:78c3d0598819	326	K_deno_inv[2][1] = (K_deno[0][1]K_deno[2][0]-K_deno[0][0]K_deno[2][1])/det_K_deno_inv;
higedura	2:78c3d0598819	327	K_deno_inv[2][2] = (K_deno[0][0]K_deno[1][1]-K_deno[0][1]K_deno[1][0])/det_K_deno_inv;
higedura	2:78c3d0598819	328
higedura	2:78c3d0598819	329	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	330	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	331	for( int k=0;k<N;k++ ){
higedura	2:78c3d0598819	332	K[i][j] += PH[i][k]*K_deno_inv[k][j];
higedura	2:78c3d0598819	333	}
higedura	2:78c3d0598819	334	}
higedura	2:78c3d0598819	335	}
higedura	2:78c3d0598819	336
higedura	2:78c3d0598819	337	// Filtering
higedura	2:78c3d0598819	338	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	339	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	340	Hx[i] += Hjac[i][j]*y[j];
higedura	2:78c3d0598819	341	}
higedura	2:78c3d0598819	342	}
higedura	2:78c3d0598819	343	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	344	z_Hx[i] = z[i]-Hx[i];
higedura	2:78c3d0598819	345	}
higedura	2:78c3d0598819	346	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	347	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	348	Kz_Hx[i] += K[i][j]*z_Hx[j];
higedura	2:78c3d0598819	349	}
higedura	2:78c3d0598819	350	}
higedura	2:78c3d0598819	351	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	352	y[i] = y[i]+Kz_Hx[i];
higedura	2:78c3d0598819	353	}
higedura	2:78c3d0598819	354
higedura	2:78c3d0598819	355	// Covarience
higedura	2:78c3d0598819	356	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	357	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	358	for( int k=0;k<N;k++ ){
higedura	2:78c3d0598819	359	KHP[i][j] += K[i][k]*HP[k][j];
higedura	2:78c3d0598819	360	}
higedura	2:78c3d0598819	361	}
higedura	2:78c3d0598819	362	}
higedura	2:78c3d0598819	363	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	364	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	365	P[i][j] = P[i][j]-KHP[i][j];
higedura	2:78c3d0598819	366	}
higedura	2:78c3d0598819	367	}
higedura	2:78c3d0598819	368
higedura	2:78c3d0598819	369	return py;
higedura	2:78c3d0598819	370
higedura	2:78c3d0598819	371	}
higedura	2:78c3d0598819	372
higedura	2:78c3d0598819	373	double* LWMA( double z[N] ){
higedura	2:78c3d0598819	374
higedura	2:78c3d0598819	375	double zLWMA[N] = {0};
higedura	2:78c3d0598819	376	double zLWMA_num[N] = {0};
higedura	2:78c3d0598819	377	double zLWMA_den = 0;
higedura	2:78c3d0598819	378
higedura	2:78c3d0598819	379	double* pzLWMA = zLWMA;
higedura	2:78c3d0598819	380
higedura	2:78c3d0598819	381	// �󂯓n��
higedura	2:78c3d0598819	382	for( int i=1;i<N_LWMA;i++ ){
higedura	2:78c3d0598819	383	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	384	z_buf[j][N_LWMA-i] = z_buf[j][N_LWMA-i-1];
higedura	2:78c3d0598819	385	}
higedura	2:78c3d0598819	386	}
higedura	2:78c3d0598819	387	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	388	z_buf[i][0] = z[i];
higedura	2:78c3d0598819	389	}
higedura	2:78c3d0598819	390
higedura	2:78c3d0598819	391	// �v�Z��[�v
higedura	2:78c3d0598819	392	for( int i=0;i<N_LWMA;i++ ){
higedura	2:78c3d0598819	393	for( int j=0;j<N;j++ ){
higedura	2:78c3d0598819	394	zLWMA_num[j] += (N_LWMA-i)*z_buf[j][i];
higedura	2:78c3d0598819	395	}
higedura	2:78c3d0598819	396	zLWMA_den += N_LWMA-i;
higedura	2:78c3d0598819	397	}
higedura	2:78c3d0598819	398	for( int i=0;i<N;i++ ){
higedura	2:78c3d0598819	399	zLWMA[i] = zLWMA_num[i]/zLWMA_den;
higedura	2:78c3d0598819	400	}
higedura	2:78c3d0598819	401
higedura	2:78c3d0598819	402	return pzLWMA;
higedura	2:78c3d0598819	403
higedura	2:78c3d0598819	404	}
higedura	2:78c3d0598819	405
higedura	2:78c3d0598819	406	double* RK4( double dt, double y[N], double x[N] ){
higedura	2:78c3d0598819	407
higedura	2:78c3d0598819	408	double yBuf[N] = {0};
higedura	2:78c3d0598819	409	double k[N][4] = {0};
higedura	2:78c3d0598819	410
higedura	2:78c3d0598819	411	double* p_y = y;
higedura	2:78c3d0598819	412
higedura	2:78c3d0598819	413	double* pk1;
higedura	2:78c3d0598819	414	double* pk2;
higedura	2:78c3d0598819	415	double* pk3;
higedura	2:78c3d0598819	416	double* pk4;
higedura	2:78c3d0598819	417
higedura	2:78c3d0598819	418	for( int i=0;i<N;i++){ yBuf[i] = y[i]; }
higedura	2:78c3d0598819	419	pk1 = func (yBuf,x);
higedura	2:78c3d0598819	420	for( int i=0;i<N;i++ ){ k[i][0] = *pk1; pk1 = pk1+1; }
higedura	2:78c3d0598819	421
higedura	2:78c3d0598819	422	for( int i=0;i<N;i++){ yBuf[i] = y[i]+0.5dtk[i][1]; }
higedura	2:78c3d0598819	423	pk2 = func (yBuf,x);
higedura	2:78c3d0598819	424	for( int i=0;i<N;i++ ){ k[i][1] = *pk2; pk2 = pk2+1; }
higedura	2:78c3d0598819	425
higedura	2:78c3d0598819	426	for( int i=0;i<N;i++){ yBuf[i] = y[i]+0.5dtk[i][2]; }
higedura	2:78c3d0598819	427	pk3 = func (yBuf,x);
higedura	2:78c3d0598819	428	for( int i=0;i<N;i++ ){ k[i][2] = *pk3; pk3 = pk3+1; }
higedura	2:78c3d0598819	429
higedura	2:78c3d0598819	430	for( int i=0;i<N;i++){ yBuf[i] = y[i]+dt*k[i][3]; }
higedura	2:78c3d0598819	431	pk4 = func (yBuf,x);
higedura	2:78c3d0598819	432	for( int i=0;i<N;i++ ){ k[i][3] = *pk4; pk4 = pk4+1; }
higedura	2:78c3d0598819	433
higedura	2:78c3d0598819	434	for( int i=0;i<N;i++){ y[i] = y[i]+dt(k[i][0]+2.0k[i][1]+2.0*k[i][2]+k[i][3])/6.0; }
higedura	2:78c3d0598819	435
higedura	2:78c3d0598819	436	return p_y;
higedura	2:78c3d0598819	437
higedura	2:78c3d0598819	438	}
higedura	2:78c3d0598819	439
higedura	2:78c3d0598819	440	double* func( double y[N], double x[N] ){
higedura	2:78c3d0598819	441
higedura	2:78c3d0598819	442	double f[N] = {0};
higedura	2:78c3d0598819	443	double* p_f = f;
higedura	2:78c3d0598819	444
higedura	2:78c3d0598819	445	f[0] = x[0]+x[1]sin(y[0])tan(y[1])+x[2]cos(y[0])tan(y[1]);
higedura	2:78c3d0598819	446	f[1] = x[1]cos(y[0])-x[2]sin(y[0]);
higedura	2:78c3d0598819	447	f[2] = x[1]sin(y[0])/cos(y[1])+x[2]cos(y[0])/cos(y[1]);
higedura	2:78c3d0598819	448
higedura	2:78c3d0598819	449	return p_f;
higedura	2:78c3d0598819	450
higedura	2:78c3d0598819	451	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	30 Jan 2012
Imports:	245
Forks:	0
Commits:	12
Dependents:	0
Dependencies:	1
Followers:	4

main.cpp@2:78c3d0598819, 2012-02-15 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning