Shuto Naruse
/
Eurobot2012_Secondary
Eurobot2012_Secondary
Fork of Eurobot_2012_Secondary by
Kalman/Kalman.cpp@0:fbfafa6bf5f9, 2012-04-20 (annotated)
- Committer:
- narshu
- Date:
- Fri Apr 20 21:32:24 2012 +0000
- Revision:
- 0:fbfafa6bf5f9
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 0:fbfafa6bf5f9 | 1 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 2 | //Kalman Filter implementation |
narshu | 0:fbfafa6bf5f9 | 3 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 4 | #include "Kalman.h" |
narshu | 0:fbfafa6bf5f9 | 5 | #include "rtos.h" |
narshu | 0:fbfafa6bf5f9 | 6 | #include "RFSRF05.h" |
narshu | 0:fbfafa6bf5f9 | 7 | //#include "MatrixMath.h" |
narshu | 0:fbfafa6bf5f9 | 8 | //#include "Matrix.h" |
narshu | 0:fbfafa6bf5f9 | 9 | #include "math.h" |
narshu | 0:fbfafa6bf5f9 | 10 | #include "globals.h" |
narshu | 0:fbfafa6bf5f9 | 11 | #include "motors.h" |
narshu | 0:fbfafa6bf5f9 | 12 | #include "system.h" |
narshu | 0:fbfafa6bf5f9 | 13 | #include "geometryfuncs.h" |
narshu | 0:fbfafa6bf5f9 | 14 | |
narshu | 0:fbfafa6bf5f9 | 15 | #include <tvmet/Matrix.h> |
narshu | 0:fbfafa6bf5f9 | 16 | #include <tvmet/Vector.h> |
narshu | 0:fbfafa6bf5f9 | 17 | using namespace tvmet; |
narshu | 0:fbfafa6bf5f9 | 18 | DigitalOut led1(LED1); |
narshu | 0:fbfafa6bf5f9 | 19 | DigitalOut led2(LED2); |
narshu | 0:fbfafa6bf5f9 | 20 | DigitalOut led3(LED3); |
narshu | 0:fbfafa6bf5f9 | 21 | DigitalOut led4(LED4); |
narshu | 0:fbfafa6bf5f9 | 22 | |
narshu | 0:fbfafa6bf5f9 | 23 | |
narshu | 0:fbfafa6bf5f9 | 24 | Kalman::Kalman(Motors &motorsin) : |
narshu | 0:fbfafa6bf5f9 | 25 | sonararray(p10,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9), |
narshu | 0:fbfafa6bf5f9 | 26 | motors(motorsin), |
narshu | 0:fbfafa6bf5f9 | 27 | predictthread(predictloopwrapper, this, osPriorityNormal, 512), |
narshu | 0:fbfafa6bf5f9 | 28 | predictticker( SIGTICKARGS(predictthread, 0x1) ), |
narshu | 0:fbfafa6bf5f9 | 29 | // sonarthread(sonarloopwrapper, this, osPriorityNormal, 256), |
narshu | 0:fbfafa6bf5f9 | 30 | // sonarticker( SIGTICKARGS(sonarthread, 0x1) ), |
narshu | 0:fbfafa6bf5f9 | 31 | updatethread(updateloopwrapper, this, osPriorityNormal, 2048) { |
narshu | 0:fbfafa6bf5f9 | 32 | |
narshu | 0:fbfafa6bf5f9 | 33 | //Initilising matrices |
narshu | 0:fbfafa6bf5f9 | 34 | |
narshu | 0:fbfafa6bf5f9 | 35 | // X = x, y, theta; |
narshu | 0:fbfafa6bf5f9 | 36 | X = 0.5, 0, 0; |
narshu | 0:fbfafa6bf5f9 | 37 | |
narshu | 0:fbfafa6bf5f9 | 38 | P = 1, 0, 0, |
narshu | 0:fbfafa6bf5f9 | 39 | 0, 1, 0, |
narshu | 0:fbfafa6bf5f9 | 40 | 0, 0, 0.04; |
narshu | 0:fbfafa6bf5f9 | 41 | |
narshu | 0:fbfafa6bf5f9 | 42 | //Q = 0.002, 0, 0, //temporary matrix, Use dt! |
narshu | 0:fbfafa6bf5f9 | 43 | // 0, 0.002, 0, |
narshu | 0:fbfafa6bf5f9 | 44 | // 0, 0, 0.002; |
narshu | 0:fbfafa6bf5f9 | 45 | |
narshu | 0:fbfafa6bf5f9 | 46 | //measurment variance R is provided by each sensor when calling runupdate |
narshu | 0:fbfafa6bf5f9 | 47 | |
narshu | 0:fbfafa6bf5f9 | 48 | //attach callback |
narshu | 0:fbfafa6bf5f9 | 49 | sonararray.callbackobj = (DummyCT*)this; |
narshu | 0:fbfafa6bf5f9 | 50 | sonararray.mcallbackfunc = (void (DummyCT::*)(int beaconnum, float distance, float variance)) &Kalman::runupdate; |
narshu | 0:fbfafa6bf5f9 | 51 | |
narshu | 0:fbfafa6bf5f9 | 52 | |
narshu | 0:fbfafa6bf5f9 | 53 | predictticker.start(20); |
narshu | 0:fbfafa6bf5f9 | 54 | // sonarticker.start(50); |
narshu | 0:fbfafa6bf5f9 | 55 | |
narshu | 0:fbfafa6bf5f9 | 56 | |
narshu | 0:fbfafa6bf5f9 | 57 | } |
narshu | 0:fbfafa6bf5f9 | 58 | |
narshu | 0:fbfafa6bf5f9 | 59 | |
narshu | 0:fbfafa6bf5f9 | 60 | void Kalman::predictloop() { |
narshu | 0:fbfafa6bf5f9 | 61 | |
narshu | 0:fbfafa6bf5f9 | 62 | float lastleft = 0; |
narshu | 0:fbfafa6bf5f9 | 63 | float lastright = 0; |
narshu | 0:fbfafa6bf5f9 | 64 | |
narshu | 0:fbfafa6bf5f9 | 65 | while (1) { |
narshu | 0:fbfafa6bf5f9 | 66 | Thread::signal_wait(0x1); |
narshu | 0:fbfafa6bf5f9 | 67 | led1 = !led1; |
narshu | 0:fbfafa6bf5f9 | 68 | |
narshu | 0:fbfafa6bf5f9 | 69 | int leftenc = motors.getEncoder1(); |
narshu | 0:fbfafa6bf5f9 | 70 | int rightenc = motors.getEncoder2(); |
narshu | 0:fbfafa6bf5f9 | 71 | |
narshu | 0:fbfafa6bf5f9 | 72 | float dleft = motors.encoderToDistance(leftenc-lastleft)/1000.0f; |
narshu | 0:fbfafa6bf5f9 | 73 | float dright = motors.encoderToDistance(rightenc-lastright)/1000.0f; |
narshu | 0:fbfafa6bf5f9 | 74 | |
narshu | 0:fbfafa6bf5f9 | 75 | lastleft = leftenc; |
narshu | 0:fbfafa6bf5f9 | 76 | lastright = rightenc; |
narshu | 0:fbfafa6bf5f9 | 77 | |
narshu | 0:fbfafa6bf5f9 | 78 | |
narshu | 0:fbfafa6bf5f9 | 79 | //The below calculation are in body frame (where +x is forward) |
narshu | 0:fbfafa6bf5f9 | 80 | float dxp, dyp,d,r; |
narshu | 0:fbfafa6bf5f9 | 81 | float thetap = (dright - dleft)*PI / (float(robotCircumference)/1000.0f); |
narshu | 0:fbfafa6bf5f9 | 82 | if (abs(thetap) < 0.02) { //if the rotation through the integration step is small, approximate with a straight line to avoid numerical error |
narshu | 0:fbfafa6bf5f9 | 83 | d = (dright + dleft)/2.0f; |
narshu | 0:fbfafa6bf5f9 | 84 | dxp = d*cos(thetap/2.0f); |
narshu | 0:fbfafa6bf5f9 | 85 | dyp = d*sin(thetap/2.0f); |
narshu | 0:fbfafa6bf5f9 | 86 | |
narshu | 0:fbfafa6bf5f9 | 87 | } else { //calculate circle arc |
narshu | 0:fbfafa6bf5f9 | 88 | //float r = (right + left) / (4.0f * PI * thetap); |
narshu | 0:fbfafa6bf5f9 | 89 | r = (dright + dleft) / (2.0f*thetap); |
narshu | 0:fbfafa6bf5f9 | 90 | dxp = abs(r)*sin(thetap); |
narshu | 0:fbfafa6bf5f9 | 91 | dyp = r - r*cos(thetap); |
narshu | 0:fbfafa6bf5f9 | 92 | } |
narshu | 0:fbfafa6bf5f9 | 93 | |
narshu | 0:fbfafa6bf5f9 | 94 | statelock.lock(); |
narshu | 0:fbfafa6bf5f9 | 95 | |
narshu | 0:fbfafa6bf5f9 | 96 | //rotating to cartesian frame and updating state |
narshu | 0:fbfafa6bf5f9 | 97 | X(0) += dxp * cos(X(2)) - dyp * sin(X(2)); |
narshu | 0:fbfafa6bf5f9 | 98 | X(1) += dxp * sin(X(2)) + dyp * cos(X(2)); |
narshu | 0:fbfafa6bf5f9 | 99 | X(2) = rectifyAng(X(2) + thetap); |
narshu | 0:fbfafa6bf5f9 | 100 | |
narshu | 0:fbfafa6bf5f9 | 101 | //Linearising F around X |
narshu | 0:fbfafa6bf5f9 | 102 | Matrix<float, 3, 3> F; |
narshu | 0:fbfafa6bf5f9 | 103 | F = 1, 0, (dxp * -sin(X(2)) - dyp * cos(X(2))), |
narshu | 0:fbfafa6bf5f9 | 104 | 0, 1, (dxp * cos(X(2)) - dyp * sin(X(2))), |
narshu | 0:fbfafa6bf5f9 | 105 | 0, 0, 1; |
narshu | 0:fbfafa6bf5f9 | 106 | |
narshu | 0:fbfafa6bf5f9 | 107 | //Generating forward and rotational variance |
narshu | 0:fbfafa6bf5f9 | 108 | float varfwd = fwdvarperunit * (dright + dleft) / 2.0f; |
narshu | 0:fbfafa6bf5f9 | 109 | float varang = varperang * thetap; |
narshu | 0:fbfafa6bf5f9 | 110 | float varxydt = xyvarpertime * PREDICTPERIOD; |
narshu | 0:fbfafa6bf5f9 | 111 | float varangdt = angvarpertime * PREDICTPERIOD; |
narshu | 0:fbfafa6bf5f9 | 112 | |
narshu | 0:fbfafa6bf5f9 | 113 | //Rotating into cartesian frame |
narshu | 0:fbfafa6bf5f9 | 114 | Matrix<float, 2, 2> Qsub,Qsubrot,Qrot; |
narshu | 0:fbfafa6bf5f9 | 115 | Qsub = varfwd + varxydt, 0, |
narshu | 0:fbfafa6bf5f9 | 116 | 0, varxydt; |
narshu | 0:fbfafa6bf5f9 | 117 | |
narshu | 0:fbfafa6bf5f9 | 118 | Qrot = Rotmatrix(X(2)); |
narshu | 0:fbfafa6bf5f9 | 119 | |
narshu | 0:fbfafa6bf5f9 | 120 | Qsubrot = Qrot * Qsub * trans(Qrot); |
narshu | 0:fbfafa6bf5f9 | 121 | |
narshu | 0:fbfafa6bf5f9 | 122 | //Generate Q |
narshu | 0:fbfafa6bf5f9 | 123 | Matrix<float, 3, 3> Q;//(Qsubrot); |
narshu | 0:fbfafa6bf5f9 | 124 | Q = Qsubrot(0,0), Qsubrot(0,1), 0, |
narshu | 0:fbfafa6bf5f9 | 125 | Qsubrot(1,0), Qsubrot(1,1), 0, |
narshu | 0:fbfafa6bf5f9 | 126 | 0, 0, varang + varangdt; |
narshu | 0:fbfafa6bf5f9 | 127 | |
narshu | 0:fbfafa6bf5f9 | 128 | P = F * P * trans(F) + Q; |
narshu | 0:fbfafa6bf5f9 | 129 | |
narshu | 0:fbfafa6bf5f9 | 130 | statelock.unlock(); |
narshu | 0:fbfafa6bf5f9 | 131 | //Thread::wait(PREDICTPERIOD); |
narshu | 0:fbfafa6bf5f9 | 132 | |
narshu | 0:fbfafa6bf5f9 | 133 | //cout << "predict" << X << endl; |
narshu | 0:fbfafa6bf5f9 | 134 | //cout << P << endl; |
narshu | 0:fbfafa6bf5f9 | 135 | } |
narshu | 0:fbfafa6bf5f9 | 136 | } |
narshu | 0:fbfafa6bf5f9 | 137 | |
narshu | 0:fbfafa6bf5f9 | 138 | //void Kalman::sonarloop() { |
narshu | 0:fbfafa6bf5f9 | 139 | // while (1) { |
narshu | 0:fbfafa6bf5f9 | 140 | // Thread::signal_wait(0x1); |
narshu | 0:fbfafa6bf5f9 | 141 | // sonararray.startRange(); |
narshu | 0:fbfafa6bf5f9 | 142 | // } |
narshu | 0:fbfafa6bf5f9 | 143 | //} |
narshu | 0:fbfafa6bf5f9 | 144 | |
narshu | 0:fbfafa6bf5f9 | 145 | |
narshu | 0:fbfafa6bf5f9 | 146 | void Kalman::runupdate(measurement_t type, float value, float variance) { |
narshu | 0:fbfafa6bf5f9 | 147 | //printf("beacon %d dist %f\r\n", sonarid, dist); |
narshu | 0:fbfafa6bf5f9 | 148 | //led2 = !led2; |
narshu | 0:fbfafa6bf5f9 | 149 | |
narshu | 0:fbfafa6bf5f9 | 150 | measurmentdata* measured = (measurmentdata*)measureMQ.alloc(); |
narshu | 0:fbfafa6bf5f9 | 151 | if (measured) { |
narshu | 0:fbfafa6bf5f9 | 152 | measured->mtype = type; |
narshu | 0:fbfafa6bf5f9 | 153 | measured->value = value; |
narshu | 0:fbfafa6bf5f9 | 154 | measured->variance = variance; |
narshu | 0:fbfafa6bf5f9 | 155 | |
narshu | 0:fbfafa6bf5f9 | 156 | osStatus putret = measureMQ.put(measured); |
narshu | 0:fbfafa6bf5f9 | 157 | if (putret) |
narshu | 0:fbfafa6bf5f9 | 158 | led4 = 1; |
narshu | 0:fbfafa6bf5f9 | 159 | // printf("putting in MQ error code %#x\r\n", putret); |
narshu | 0:fbfafa6bf5f9 | 160 | } else { |
narshu | 0:fbfafa6bf5f9 | 161 | led4 = 1; |
narshu | 0:fbfafa6bf5f9 | 162 | //printf("MQalloc returned NULL ptr\r\n"); |
narshu | 0:fbfafa6bf5f9 | 163 | } |
narshu | 0:fbfafa6bf5f9 | 164 | |
narshu | 0:fbfafa6bf5f9 | 165 | } |
narshu | 0:fbfafa6bf5f9 | 166 | |
narshu | 0:fbfafa6bf5f9 | 167 | void Kalman::updateloop() { |
narshu | 0:fbfafa6bf5f9 | 168 | measurement_t type; |
narshu | 0:fbfafa6bf5f9 | 169 | float value,variance,rbx,rby,expecdist,Y; |
narshu | 0:fbfafa6bf5f9 | 170 | float dhdx,dhdy; |
narshu | 0:fbfafa6bf5f9 | 171 | bool aborton2stddev = false; |
narshu | 0:fbfafa6bf5f9 | 172 | |
narshu | 0:fbfafa6bf5f9 | 173 | Matrix<float, 1, 3> H; |
narshu | 0:fbfafa6bf5f9 | 174 | |
narshu | 0:fbfafa6bf5f9 | 175 | float S; |
narshu | 0:fbfafa6bf5f9 | 176 | Matrix<float, 3, 3> I3( identity< Matrix<float, 3, 3> >() ); |
narshu | 0:fbfafa6bf5f9 | 177 | |
narshu | 0:fbfafa6bf5f9 | 178 | |
narshu | 0:fbfafa6bf5f9 | 179 | while (1) { |
narshu | 0:fbfafa6bf5f9 | 180 | led2 = !led2; |
narshu | 0:fbfafa6bf5f9 | 181 | |
narshu | 0:fbfafa6bf5f9 | 182 | osEvent evt = measureMQ.get(); |
narshu | 0:fbfafa6bf5f9 | 183 | |
narshu | 0:fbfafa6bf5f9 | 184 | if (evt.status == osEventMail) { |
narshu | 0:fbfafa6bf5f9 | 185 | |
narshu | 0:fbfafa6bf5f9 | 186 | measurmentdata &measured = *(measurmentdata*)evt.value.p; |
narshu | 0:fbfafa6bf5f9 | 187 | type = measured.mtype; //Note, may support more measurment types than sonar in the future! |
narshu | 0:fbfafa6bf5f9 | 188 | value = measured.value; |
narshu | 0:fbfafa6bf5f9 | 189 | variance = measured.variance; |
narshu | 0:fbfafa6bf5f9 | 190 | |
narshu | 0:fbfafa6bf5f9 | 191 | // don't forget to free the memory |
narshu | 0:fbfafa6bf5f9 | 192 | measureMQ.free(&measured); |
narshu | 0:fbfafa6bf5f9 | 193 | |
narshu | 0:fbfafa6bf5f9 | 194 | if (type <= maxmeasure) { |
narshu | 0:fbfafa6bf5f9 | 195 | |
narshu | 0:fbfafa6bf5f9 | 196 | if (type <= SONAR3) { |
narshu | 0:fbfafa6bf5f9 | 197 | |
narshu | 0:fbfafa6bf5f9 | 198 | float dist = value / 1000.0f; //converting to m from mm |
narshu | 0:fbfafa6bf5f9 | 199 | int sonarid = type; |
narshu | 0:fbfafa6bf5f9 | 200 | aborton2stddev = false; |
narshu | 0:fbfafa6bf5f9 | 201 | |
narshu | 0:fbfafa6bf5f9 | 202 | statelock.lock(); |
narshu | 0:fbfafa6bf5f9 | 203 | SonarMeasures[sonarid] = dist; //update the current sonar readings |
narshu | 0:fbfafa6bf5f9 | 204 | |
narshu | 0:fbfafa6bf5f9 | 205 | rbx = X(0) - beaconpos[sonarid].x/1000.0f; |
narshu | 0:fbfafa6bf5f9 | 206 | rby = X(1) - beaconpos[sonarid].y/1000.0f; |
narshu | 0:fbfafa6bf5f9 | 207 | |
narshu | 0:fbfafa6bf5f9 | 208 | expecdist = hypot(rbx, rby);//sqrt(rbx*rbx + rby*rby); |
narshu | 0:fbfafa6bf5f9 | 209 | Y = dist - expecdist; |
narshu | 0:fbfafa6bf5f9 | 210 | |
narshu | 0:fbfafa6bf5f9 | 211 | dhdx = rbx / expecdist; |
narshu | 0:fbfafa6bf5f9 | 212 | dhdy = rby / expecdist; |
narshu | 0:fbfafa6bf5f9 | 213 | |
narshu | 0:fbfafa6bf5f9 | 214 | H = dhdx, dhdy, 0; |
narshu | 0:fbfafa6bf5f9 | 215 | |
narshu | 0:fbfafa6bf5f9 | 216 | } else if (type <= IR3) { |
narshu | 0:fbfafa6bf5f9 | 217 | |
narshu | 0:fbfafa6bf5f9 | 218 | aborton2stddev = false; |
narshu | 0:fbfafa6bf5f9 | 219 | int IRidx = type-3; |
narshu | 0:fbfafa6bf5f9 | 220 | |
narshu | 0:fbfafa6bf5f9 | 221 | statelock.lock(); |
narshu | 0:fbfafa6bf5f9 | 222 | IRMeasures[IRidx] = value; |
narshu | 0:fbfafa6bf5f9 | 223 | |
narshu | 0:fbfafa6bf5f9 | 224 | rbx = X(0) - beaconpos[IRidx].x/1000.0f; |
narshu | 0:fbfafa6bf5f9 | 225 | rby = X(1) - beaconpos[IRidx].y/1000.0f; |
narshu | 0:fbfafa6bf5f9 | 226 | |
narshu | 0:fbfafa6bf5f9 | 227 | float expecang = atan2(-rbx, -rby) - X(2); |
narshu | 0:fbfafa6bf5f9 | 228 | //printf("expecang: %0.4f, value: %0.4f \n\r", expecang*180/PI,value*180/PI); |
narshu | 0:fbfafa6bf5f9 | 229 | Y = rectifyAng(value + expecang); |
narshu | 0:fbfafa6bf5f9 | 230 | |
narshu | 0:fbfafa6bf5f9 | 231 | float dstsq = rbx*rbx + rby*rby; |
narshu | 0:fbfafa6bf5f9 | 232 | H = -rby/dstsq, rbx/dstsq, -1; |
narshu | 0:fbfafa6bf5f9 | 233 | } |
narshu | 0:fbfafa6bf5f9 | 234 | |
narshu | 0:fbfafa6bf5f9 | 235 | Matrix<float, 3, 1> PH (P * trans(H)); |
narshu | 0:fbfafa6bf5f9 | 236 | S = (H * PH)(0,0) + variance; |
narshu | 0:fbfafa6bf5f9 | 237 | |
narshu | 0:fbfafa6bf5f9 | 238 | if (aborton2stddev && Y*Y > 4 * S) { |
narshu | 0:fbfafa6bf5f9 | 239 | statelock.unlock(); |
narshu | 0:fbfafa6bf5f9 | 240 | continue; |
narshu | 0:fbfafa6bf5f9 | 241 | } |
narshu | 0:fbfafa6bf5f9 | 242 | |
narshu | 0:fbfafa6bf5f9 | 243 | Matrix<float, 3, 1> K (PH * (1/S)); |
narshu | 0:fbfafa6bf5f9 | 244 | |
narshu | 0:fbfafa6bf5f9 | 245 | //Updating state |
narshu | 0:fbfafa6bf5f9 | 246 | X += col(K, 0) * Y; |
narshu | 0:fbfafa6bf5f9 | 247 | X(2) = rectifyAng(X(2)); |
narshu | 0:fbfafa6bf5f9 | 248 | |
narshu | 0:fbfafa6bf5f9 | 249 | P = (I3 - K * H) * P; |
narshu | 0:fbfafa6bf5f9 | 250 | |
narshu | 0:fbfafa6bf5f9 | 251 | statelock.unlock(); |
narshu | 0:fbfafa6bf5f9 | 252 | |
narshu | 0:fbfafa6bf5f9 | 253 | } |
narshu | 0:fbfafa6bf5f9 | 254 | |
narshu | 0:fbfafa6bf5f9 | 255 | } else { |
narshu | 0:fbfafa6bf5f9 | 256 | led4 = 1; |
narshu | 0:fbfafa6bf5f9 | 257 | //printf("ERROR: in updateloop, code %#x", evt); |
narshu | 0:fbfafa6bf5f9 | 258 | } |
narshu | 0:fbfafa6bf5f9 | 259 | |
narshu | 0:fbfafa6bf5f9 | 260 | } |
narshu | 0:fbfafa6bf5f9 | 261 | |
narshu | 0:fbfafa6bf5f9 | 262 | } |