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author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-19 14:10:25 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-19 14:10:25 +0400 |
commit | ba612c3ee8b88b9352e7cfa723997887dd736b76 (patch) | |
tree | 8b101b50259ffebd4de12891f4f684d6d84c3f53 /src/modules/att_pos_estimator_ekf | |
parent | e3a5a384d7b3678d1cbef63dc28fbe9a8f1de940 (diff) | |
download | px4-firmware-ba612c3ee8b88b9352e7cfa723997887dd736b76.tar.gz px4-firmware-ba612c3ee8b88b9352e7cfa723997887dd736b76.tar.bz2 px4-firmware-ba612c3ee8b88b9352e7cfa723997887dd736b76.zip |
mathlib fixes
Diffstat (limited to 'src/modules/att_pos_estimator_ekf')
-rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 92 | ||||
-rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.hpp | 20 |
2 files changed, 55 insertions, 57 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index ecca04dd7..6533eb7cf 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -54,17 +54,17 @@ static const int8_t ret_error = -1; // error occurred KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : SuperBlock(parent, name), // ekf matrices - F(9, 9), - G(9, 6), - P(9, 9), - P0(9, 9), - V(6, 6), + F(), + G(), + P(), + P0(), + V(), // attitude measurement ekf matrices - HAtt(4, 9), - RAtt(4, 4), + HAtt(), + RAtt(), // position measurement ekf matrices - HPos(6, 9), - RPos(6, 6), + HPos(), + RPos(), // attitude representations C_nb(), q(), @@ -113,7 +113,8 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : using namespace math; // initial state covariance matrix - P0 = Matrix::identity(9) * 0.01f; + P0.identity(); + P0 *= 0.01f; P = P0; // initial state @@ -138,7 +139,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : _sensors.magnetometer_ga[2]); // initialize dcm - C_nb = Dcm(q); + C_nb.from_quaternion(q); // HPos is constant HPos(0, 3) = 1.0f; @@ -404,28 +405,28 @@ int KalmanNav::predictState(float dt) // attitude prediction if (_attitudeInitialized) { - Vector3 w(_sensors.gyro_rad_s); + Vector<3> w(_sensors.gyro_rad_s); // attitude q = q + q.derivative(w) * dt; // renormalize quaternion if needed - if (fabsf(q.norm() - 1.0f) > 1e-4f) { - q = q.unit(); + if (fabsf(q.length() - 1.0f) > 1e-4f) { + q.normalize(); } // C_nb update - C_nb = Dcm(q); + C_nb.from_quaternion(q); // euler update - EulerAngles euler(C_nb); - phi = euler.getPhi(); - theta = euler.getTheta(); - psi = euler.getPsi(); + Vector<3> euler = C_nb.to_euler(); + phi = euler.data[0]; + theta = euler.data[1]; + psi = euler.data[2]; // specific acceleration in nav frame - Vector3 accelB(_sensors.accelerometer_m_s2); - Vector3 accelN = C_nb * accelB; + Vector<3> accelB(_sensors.accelerometer_m_s2); + Vector<3> accelN = C_nb * accelB; fN = accelN(0); fE = accelN(1); fD = accelN(2); @@ -549,10 +550,10 @@ int KalmanNav::predictStateCovariance(float dt) G(5, 4) = C_nb(2, 1); G(5, 5) = C_nb(2, 2); - // continuous predictioon equations - // for discrte time EKF + // continuous prediction equations + // for discrete time EKF // http://en.wikipedia.org/wiki/Extended_Kalman_filter - P = P + (F * P + P * F.transpose() + G * V * G.transpose()) * dt; + P = P + (F * P + P * F.transposed() + G * V * G.transposed()) * dt; return ret_ok; } @@ -577,13 +578,14 @@ int KalmanNav::correctAtt() // compensate roll and pitch, but not yaw // XXX take the vectors out of the C_nb matrix to avoid singularities - math::Dcm C_rp(math::EulerAngles(phi, theta, 0.0f));//C_nb.transpose(); + math::Matrix<3,3> C_rp; + C_rp.from_euler(phi, theta, 0.0f);//C_nb.transposed(); // mag measurement - Vector3 magBody(_sensors.magnetometer_ga); + Vector<3> magBody(_sensors.magnetometer_ga); // transform to earth frame - Vector3 magNav = C_rp * magBody; + Vector<3> magNav = C_rp * magBody; // calculate error between estimate and measurement // apply declination correction for true heading as well. @@ -592,12 +594,12 @@ int KalmanNav::correctAtt() if (yMag < -M_PI_F) yMag += 2*M_PI_F; // accel measurement - Vector3 zAccel(_sensors.accelerometer_m_s2); - float accelMag = zAccel.norm(); - zAccel = zAccel.unit(); + Vector<3> zAccel(_sensors.accelerometer_m_s2); + float accelMag = zAccel.length(); + zAccel.normalize(); // ignore accel correction when accel mag not close to g - Matrix RAttAdjust = RAtt; + Matrix<4,4> RAttAdjust = RAtt; bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f; @@ -611,14 +613,10 @@ int KalmanNav::correctAtt() } // accel predicted measurement - Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -_g.get())).unit(); + Vector<3> zAccelHat = (C_nb.transposed() * Vector<3>(0, 0, -_g.get())).normalized(); // calculate residual - Vector y(4); - y(0) = yMag; - y(1) = zAccel(0) - zAccelHat(0); - y(2) = zAccel(1) - zAccelHat(1); - y(3) = zAccel(2) - zAccelHat(2); + Vector<4> y(yMag, zAccel(0) - zAccelHat(0), zAccel(1) - zAccelHat(1), zAccel(2) - zAccelHat(2)); // HMag HAtt(0, 2) = 1; @@ -632,9 +630,9 @@ int KalmanNav::correctAtt() // compute correction // http://en.wikipedia.org/wiki/Extended_Kalman_filter - Matrix S = HAtt * P * HAtt.transpose() + RAttAdjust; // residual covariance - Matrix K = P * HAtt.transpose() * S.inverse(); - Vector xCorrect = K * y; + Matrix<4, 4> S = HAtt * P * HAtt.transposed() + RAttAdjust; // residual covariance + Matrix<9, 4> K = P * HAtt.transposed() * S.inversed(); + Vector<9> xCorrect = K * y; // check correciton is sane for (size_t i = 0; i < xCorrect.getRows(); i++) { @@ -669,7 +667,7 @@ int KalmanNav::correctAtt() P = P - K * HAtt * P; // fault detection - float beta = y.dot(S.inverse() * y); + float beta = y * (S.inversed() * y); if (beta > _faultAtt.get()) { warnx("fault in attitude: beta = %8.4f", (double)beta); @@ -678,7 +676,7 @@ int KalmanNav::correctAtt() // update quaternions from euler // angle correction - q = Quaternion(EulerAngles(phi, theta, psi)); + q.from_euler(phi, theta, psi); return ret_ok; } @@ -688,7 +686,7 @@ int KalmanNav::correctPos() using namespace math; // residual - Vector y(6); + Vector<6> y; y(0) = _gps.vel_n_m_s - vN; y(1) = _gps.vel_e_m_s - vE; y(2) = double(_gps.lat) - double(lat) * 1.0e7 * M_RAD_TO_DEG; @@ -698,9 +696,9 @@ int KalmanNav::correctPos() // compute correction // http://en.wikipedia.org/wiki/Extended_Kalman_filter - Matrix S = HPos * P * HPos.transpose() + RPos; // residual covariance - Matrix K = P * HPos.transpose() * S.inverse(); - Vector xCorrect = K * y; + Matrix<6,6> S = HPos * P * HPos.transposed() + RPos; // residual covariance + Matrix<9,6> K = P * HPos.transposed() * S.inversed(); + Vector<9> xCorrect = K * y; // check correction is sane for (size_t i = 0; i < xCorrect.getRows(); i++) { @@ -735,7 +733,7 @@ int KalmanNav::correctPos() P = P - K * HPos * P; // fault detetcion - float beta = y.dot(S.inverse() * y); + float beta = y * (S.inversed() * y); static int counter = 0; if (beta > _faultPos.get() && (counter % 10 == 0)) { diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp index a69bde1a6..46ee4b6c8 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp @@ -125,17 +125,17 @@ public: virtual void updateParams(); protected: // kalman filter - math::Matrix F; /**< Jacobian(f,x), where dx/dt = f(x,u) */ - math::Matrix G; /**< noise shaping matrix for gyro/accel */ - math::Matrix P; /**< state covariance matrix */ - math::Matrix P0; /**< initial state covariance matrix */ - math::Matrix V; /**< gyro/ accel noise matrix */ - math::Matrix HAtt; /**< attitude measurement matrix */ - math::Matrix RAtt; /**< attitude measurement noise matrix */ - math::Matrix HPos; /**< position measurement jacobian matrix */ - math::Matrix RPos; /**< position measurement noise matrix */ + math::Matrix<9,9> F; /**< Jacobian(f,x), where dx/dt = f(x,u) */ + math::Matrix<9,6> G; /**< noise shaping matrix for gyro/accel */ + math::Matrix<9,9> P; /**< state covariance matrix */ + math::Matrix<9,9> P0; /**< initial state covariance matrix */ + math::Matrix<6,6> V; /**< gyro/ accel noise matrix */ + math::Matrix<4,9> HAtt; /**< attitude measurement matrix */ + math::Matrix<4,4> RAtt; /**< attitude measurement noise matrix */ + math::Matrix<6,9> HPos; /**< position measurement jacobian matrix */ + math::Matrix<6,6> RPos; /**< position measurement noise matrix */ // attitude - math::Dcm C_nb; /**< direction cosine matrix from body to nav frame */ + math::Matrix<3,3> C_nb; /**< direction cosine matrix from body to nav frame */ math::Quaternion q; /**< quaternion from body to nav frame */ // subscriptions control::UOrbSubscription<sensor_combined_s> _sensors; /**< sensors sub. */ |