diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_23states.h')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.h | 40 |
1 files changed, 38 insertions, 2 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h index f8bb7a9c4..8ba1c1573 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h @@ -80,6 +80,14 @@ public: airspeedMeasurementSigma = 1.4f; gyroProcessNoise = 1.4544411e-2f; accelProcessNoise = 0.5f; + + gndHgtSigma = 0.1f; // terrain gradient 1-sigma + R_LOS = 0.03f; // optical flow measurement noise variance (rad/sec)^2 + flowInnovGate = 3.0f; // number of standard deviations applied to the optical flow innovation consistency check + auxFlowInnovGate = 10.0f; // number of standard deviations applied to the optical flow innovation consistency check used by the auxiliary filter + rngInnovGate = 5.0f; // number of standard deviations applied to the rnage finder innovation consistency check + minFlowRng = 0.01f; //minimum range between ground and flow sensor + moCompR_LOS = 0.2; // scaler from sensor gyro rate to uncertainty in LOS rate } struct mag_state_struct { @@ -125,7 +133,7 @@ public: float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time float statesAtRngTime[n_states]; // filter states at the effective measurement time - float statesAtOptFlowTime[n_states]; // States at the effective optical flow measurement time + float statesAtFlowTime[n_states]; // States at the effective optical flow measurement time Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad) Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s) @@ -204,7 +212,8 @@ public: bool inhibitWindStates; // true when wind states and covariances are to remain constant bool inhibitMagStates; // true when magnetic field states and covariances are to remain constant - bool inhibitGndHgtState; // true when the terrain ground height offset state and covariances are to remain constant + bool inhibitGndState; // true when the terrain ground height offset state and covariances are to remain constant + bool inhibitScaleState; // true when the focal length scale factor state and covariances are to remain constant bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying) bool staticMode; ///< boolean true if no position feedback is fused @@ -223,6 +232,27 @@ public: unsigned storeIndex; + // Optical Flow error estimation + float storedOmega[3][data_buffer_size]; // angular rate vector stored for the last 50 time steps used by optical flow eror estimators + + // Two state EKF used to estimate focal length scale factor and terrain position + float Popt[2][2]; // state covariance matrix + float flowStates[2]; // flow states [scale factor, terrain position] + float prevPosN; // north position at last measurement + float prevPosE; // east position at last measurement + float auxFlowObsInnov[2]; // optical flow observation innovations from focal length scale factor estimator + float auxFlowObsInnovVar[2]; // innovation variance for optical flow observations from focal length scale factor estimator + float fScaleFactorVar; // optical flow sensor focal length scale factor variance + Mat3f Tnb_flow; // Transformation matrix from nav to body at the time fo the optical flow measurement + float R_LOS; // Optical flow observation noise variance (rad/sec)^2 + float auxFlowTestRatio[2]; // ratio of X and Y flow observation innovations to fault threshold + float auxRngTestRatio; // ratio of range observation innovations to fault threshold + float flowInnovGate; // number of standard deviations used for the innovation consistency check + float auxFlowInnovGate; // number of standard deviations applied to the optical flow innovation consistency check + float rngInnovGate; // number of standard deviations used for the innovation consistency check + float minFlowRng; // minimum range over which to fuse optical flow measurements + float moCompR_LOS; // scaler from sensor gyro rate to uncertainty in LOS rate + void updateDtGpsFilt(float dt); void updateDtHgtFilt(float dt); @@ -241,6 +271,8 @@ void FuseRangeFinder(); void FuseOptFlow(); +void GroundEKF(); + void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); @@ -283,6 +315,10 @@ static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]); static float sq(float valIn); +static float maxf(float valIn1, float valIn2); + +static float min(float valIn1, float valIn2); + void OnGroundCheck(); void CovarianceInit(); |