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/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file KalmanNav.cpp
*
* kalman filter navigation code
*/
#include <poll.h>
#include "KalmanNav.hpp"
#include <systemlib/err.h>
// constants
// Titterton pg. 52
static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s
static const float R0 = 6378137.0f; // earth radius, m
static const float g0 = 9.806f; // standard gravitational accel. m/s^2
static const int8_t ret_ok = 0; // no error in function
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),
// attitude measurement ekf matrices
HAtt(4, 9),
RAtt(4, 4),
// position measurement ekf matrices
HPos(6, 9),
RPos(6, 6),
// attitude representations
C_nb(),
q(),
_accel_sub(-1),
_gyro_sub(-1),
_mag_sub(-1),
// subscriptions
_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
// publications
_pos(&getPublications(), ORB_ID(vehicle_global_position)),
_att(&getPublications(), ORB_ID(vehicle_attitude)),
// timestamps
_pubTimeStamp(hrt_absolute_time()),
_predictTimeStamp(hrt_absolute_time()),
_attTimeStamp(hrt_absolute_time()),
_outTimeStamp(hrt_absolute_time()),
// frame count
_navFrames(0),
// miss counts
_miss(0),
// accelerations
fN(0), fE(0), fD(0),
// state
phi(0), theta(0), psi(0),
vN(0), vE(0), vD(0),
lat(0), lon(0), alt(0),
// parameters for ground station
_vGyro(this, "V_GYRO"),
_vAccel(this, "V_ACCEL"),
_rMag(this, "R_MAG"),
_rGpsVel(this, "R_GPS_VEL"),
_rGpsPos(this, "R_GPS_POS"),
_rGpsAlt(this, "R_GPS_ALT"),
_rPressAlt(this, "R_PRESS_ALT"),
_rAccel(this, "R_ACCEL"),
_magDip(this, "ENV_MAG_DIP"),
_magDec(this, "ENV_MAG_DEC"),
_g(this, "ENV_G"),
_faultPos(this, "FAULT_POS"),
_faultAtt(this, "FAULT_ATT"),
_attitudeInitialized(false),
_positionInitialized(false),
_attitudeInitCounter(0)
{
using namespace math;
// initial state covariance matrix
P0 = Matrix::identity(9) * 0.01f;
P = P0;
// initial state
phi = 0.0f;
theta = 0.0f;
psi = 0.0f;
vN = 0.0f;
vE = 0.0f;
vD = 0.0f;
lat = 0.0f;
lon = 0.0f;
alt = 0.0f;
// gyro, accel and mag subscriptions
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
struct accel_report accel;
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel);
struct mag_report mag;
orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag);
// initialize rotation quaternion with a single raw sensor measurement
q = init(accel.x, accel.y, accel.z, mag.x, mag.y, mag.z);
// initialize dcm
C_nb = Dcm(q);
// HPos is constant
HPos(0, 3) = 1.0f;
HPos(1, 4) = 1.0f;
HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
HPos(4, 8) = 1.0f;
HPos(5, 8) = 1.0f;
// initialize all parameters
updateParams();
}
math::Quaternion KalmanNav::init(float ax, float ay, float az, float mx, float my, float mz)
{
float initialRoll, initialPitch;
float cosRoll, sinRoll, cosPitch, sinPitch;
float magX, magY;
float initialHdg, cosHeading, sinHeading;
initialRoll = atan2(-ay, -az);
initialPitch = atan2(ax, -az);
cosRoll = cosf(initialRoll);
sinRoll = sinf(initialRoll);
cosPitch = cosf(initialPitch);
sinPitch = sinf(initialPitch);
magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch;
magY = my * cosRoll - mz * sinRoll;
initialHdg = atan2f(-magY, magX);
cosRoll = cosf(initialRoll * 0.5f);
sinRoll = sinf(initialRoll * 0.5f);
cosPitch = cosf(initialPitch * 0.5f);
sinPitch = sinf(initialPitch * 0.5f);
cosHeading = cosf(initialHdg * 0.5f);
sinHeading = sinf(initialHdg * 0.5f);
float q0 = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading;
float q1 = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading;
float q2 = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading;
float q3 = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading;
return math::Quaternion(q0, q1, q2, q3);
}
void KalmanNav::update()
{
using namespace math;
struct pollfd fds[1];
fds[0].fd = _sensors.getHandle();
fds[0].events = POLLIN;
// poll for new data
int ret = poll(fds, 1, 1000);
if (ret < 0) {
// XXX this is seriously bad - should be an emergency
return;
} else if (ret == 0) { // timeout
return;
}
// get new timestamp
uint64_t newTimeStamp = hrt_absolute_time();
// check updated subscriptions
if (_param_update.updated()) updateParams();
bool gpsUpdate = _gps.updated();
bool sensorsUpdate = _sensors.updated();
// get new information from subscriptions
// this clears update flag
updateSubscriptions();
// initialize attitude when sensors online
if (!_attitudeInitialized && sensorsUpdate &&
_sensors.accelerometer_counter > 10 &&
_sensors.gyro_counter > 10 &&
_sensors.magnetometer_counter > 10) {
if (correctAtt() == ret_ok) _attitudeInitCounter++;
if (_attitudeInitCounter > 100) {
warnx("initialized EKF attitude\n");
warnx("phi: %8.4f, theta: %8.4f, psi: %8.4f\n",
double(phi), double(theta), double(psi));
_attitudeInitialized = true;
}
}
// initialize position when gps received
if (!_positionInitialized &&
_attitudeInitialized && // wait for attitude first
gpsUpdate &&
_gps.fix_type > 2
//&& _gps.counter_pos_valid > 10
) {
vN = _gps.vel_n_m_s;
vE = _gps.vel_e_m_s;
vD = _gps.vel_d_m_s;
setLatDegE7(_gps.lat);
setLonDegE7(_gps.lon);
setAltE3(_gps.alt);
_positionInitialized = true;
warnx("initialized EKF state with GPS\n");
warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
double(vN), double(vE), double(vD),
lat, lon, alt);
}
// prediciton step
// using sensors timestamp so we can account for packet lag
float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
//printf("dt: %15.10f\n", double(dt));
_predictTimeStamp = _sensors.timestamp;
// don't predict if time greater than a second
if (dt < 1.0f) {
predictState(dt);
predictStateCovariance(dt);
// count fast frames
_navFrames += 1;
}
// count times 100 Hz rate isn't met
if (dt > 0.01f) _miss++;
// gps correction step
if (_positionInitialized && gpsUpdate) {
correctPos();
}
// attitude correction step
if (_attitudeInitialized // initialized
&& sensorsUpdate // new data
&& _sensors.timestamp - _attTimeStamp > 1e6 / 50 // 50 Hz
) {
_attTimeStamp = _sensors.timestamp;
correctAtt();
}
// publication
if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
_pubTimeStamp = newTimeStamp;
updatePublications();
}
// output
if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
_outTimeStamp = newTimeStamp;
//printf("nav: %4d Hz, miss #: %4d\n",
// _navFrames / 10, _miss / 10);
_navFrames = 0;
_miss = 0;
}
}
void KalmanNav::updatePublications()
{
using namespace math;
// position publication
_pos.timestamp = _pubTimeStamp;
_pos.time_gps_usec = _gps.timestamp_position;
_pos.valid = true;
_pos.lat = getLatDegE7();
_pos.lon = getLonDegE7();
_pos.alt = float(alt);
_pos.relative_alt = float(alt); // TODO, make relative
_pos.vx = vN;
_pos.vy = vE;
_pos.vz = vD;
_pos.hdg = psi;
// attitude publication
_att.timestamp = _pubTimeStamp;
_att.roll = phi;
_att.pitch = theta;
_att.yaw = psi;
_att.rollspeed = _sensors.gyro_rad_s[0];
_att.pitchspeed = _sensors.gyro_rad_s[1];
_att.yawspeed = _sensors.gyro_rad_s[2];
// TODO, add gyro offsets to filter
_att.rate_offsets[0] = 0.0f;
_att.rate_offsets[1] = 0.0f;
_att.rate_offsets[2] = 0.0f;
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
_att.R[i][j] = C_nb(i, j);
for (int i = 0; i < 4; i++) _att.q[i] = q(i);
_att.R_valid = true;
_att.q_valid = true;
// selectively update publications,
// do NOT call superblock do-all method
if (_positionInitialized)
_pos.update();
if (_attitudeInitialized)
_att.update();
}
int KalmanNav::predictState(float dt)
{
using namespace math;
// trig
float sinL = sinf(lat);
float cosL = cosf(lat);
float cosLSing = cosf(lat);
// prevent singularity
if (fabsf(cosLSing) < 0.01f) {
if (cosLSing > 0) cosLSing = 0.01;
else cosLSing = -0.01;
}
// attitude prediction
if (_attitudeInitialized) {
Vector3 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();
}
// C_nb update
C_nb = Dcm(q);
// euler update
EulerAngles euler(C_nb);
phi = euler.getPhi();
theta = euler.getTheta();
psi = euler.getPsi();
// specific acceleration in nav frame
Vector3 accelB(_sensors.accelerometer_m_s2);
Vector3 accelN = C_nb * accelB;
fN = accelN(0);
fE = accelN(1);
fD = accelN(2);
}
// position prediction
if (_positionInitialized) {
// neglects angular deflections in local gravity
// see Titerton pg. 70
float R = R0 + float(alt);
float LDot = vN / R;
float lDot = vE / (cosLSing * R);
float rotRate = 2 * omega + lDot;
// XXX position prediction using speed
float vNDot = fN - vE * rotRate * sinL +
vD * LDot;
float vDDot = fD - vE * rotRate * cosL -
vN * LDot + _g.get();
float vEDot = fE + vN * rotRate * sinL +
vDDot * rotRate * cosL;
// rectangular integration
vN += vNDot * dt;
vE += vEDot * dt;
vD += vDDot * dt;
lat += double(LDot * dt);
lon += double(lDot * dt);
alt += double(-vD * dt);
}
return ret_ok;
}
int KalmanNav::predictStateCovariance(float dt)
{
using namespace math;
// trig
float sinL = sinf(lat);
float cosL = cosf(lat);
float cosLSq = cosL * cosL;
float tanL = tanf(lat);
// prepare for matrix
float R = R0 + float(alt);
float RSq = R * R;
// F Matrix
// Titterton pg. 291
F(0, 1) = -(omega * sinL + vE * tanL / R);
F(0, 2) = vN / R;
F(0, 4) = 1.0f / R;
F(0, 6) = -omega * sinL;
F(0, 8) = -vE / RSq;
F(1, 0) = omega * sinL + vE * tanL / R;
F(1, 2) = omega * cosL + vE / R;
F(1, 3) = -1.0f / R;
F(1, 8) = vN / RSq;
F(2, 0) = -vN / R;
F(2, 1) = -omega * cosL - vE / R;
F(2, 4) = -tanL / R;
F(2, 6) = -omega * cosL - vE / (R * cosLSq);
F(2, 8) = vE * tanL / RSq;
F(3, 1) = -fD;
F(3, 2) = fE;
F(3, 3) = vD / R;
F(3, 4) = -2 * (omega * sinL + vE * tanL / R);
F(3, 5) = vN / R;
F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq));
F(3, 8) = (vE * vE * tanL - vN * vD) / RSq;
F(4, 0) = fD;
F(4, 2) = -fN;
F(4, 3) = 2 * omega * sinL + vE * tanL / R;
F(4, 4) = (vN * tanL + vD) / R;
F(4, 5) = 2 * omega * cosL + vE / R;
F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) +
vN * vE / (R * cosLSq);
F(4, 8) = -vE * (vN * tanL + vD) / RSq;
F(5, 0) = -fE;
F(5, 1) = fN;
F(5, 3) = -2 * vN / R;
F(5, 4) = -2 * (omega * cosL + vE / R);
F(5, 6) = 2 * omega * vE * sinL;
F(5, 8) = (vN * vN + vE * vE) / RSq;
F(6, 3) = 1 / R;
F(6, 8) = -vN / RSq;
F(7, 4) = 1 / (R * cosL);
F(7, 6) = vE * tanL / (R * cosL);
F(7, 8) = -vE / (cosL * RSq);
F(8, 5) = -1;
// G Matrix
// Titterton pg. 291
G(0, 0) = -C_nb(0, 0);
G(0, 1) = -C_nb(0, 1);
G(0, 2) = -C_nb(0, 2);
G(1, 0) = -C_nb(1, 0);
G(1, 1) = -C_nb(1, 1);
G(1, 2) = -C_nb(1, 2);
G(2, 0) = -C_nb(2, 0);
G(2, 1) = -C_nb(2, 1);
G(2, 2) = -C_nb(2, 2);
G(3, 3) = C_nb(0, 0);
G(3, 4) = C_nb(0, 1);
G(3, 5) = C_nb(0, 2);
G(4, 3) = C_nb(1, 0);
G(4, 4) = C_nb(1, 1);
G(4, 5) = C_nb(1, 2);
G(5, 3) = C_nb(2, 0);
G(5, 4) = C_nb(2, 1);
G(5, 5) = C_nb(2, 2);
// continuous predictioon equations
// for discrte time EKF
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
P = P + (F * P + P * F.transpose() + G * V * G.transpose()) * dt;
return ret_ok;
}
int KalmanNav::correctAtt()
{
using namespace math;
// trig
float cosPhi = cosf(phi);
float cosTheta = cosf(theta);
// float cosPsi = cosf(psi);
float sinPhi = sinf(phi);
float sinTheta = sinf(theta);
// float sinPsi = sinf(psi);
// mag predicted measurement
// choosing some typical magnetic field properties,
// TODO dip/dec depend on lat/ lon/ time
//float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
// 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();
// mag measurement
Vector3 magBody(_sensors.magnetometer_ga);
// transform to earth frame
Vector3 magNav = C_rp * magBody;
// calculate error between estimate and measurement
// apply declination correction for true heading as well.
float yMag = -atan2f(magNav(1),magNav(0)) - psi - dec;
if (yMag > M_PI_F) yMag -= 2*M_PI_F;
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();
// ignore accel correction when accel mag not close to g
Matrix RAttAdjust = RAtt;
bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f;
if (ignoreAccel) {
RAttAdjust(1, 1) = 1.0e10;
RAttAdjust(2, 2) = 1.0e10;
RAttAdjust(3, 3) = 1.0e10;
} else {
//printf("correcting attitude with accel\n");
}
// accel predicted measurement
Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -_g.get())).unit();
// 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);
// HMag
HAtt(0, 2) = 1;
// HAccel
HAtt(1, 1) = cosTheta;
HAtt(2, 0) = -cosPhi * cosTheta;
HAtt(2, 1) = sinPhi * sinTheta;
HAtt(3, 0) = sinPhi * cosTheta;
HAtt(3, 1) = cosPhi * sinTheta;
// 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;
// check correciton is sane
for (size_t i = 0; i < xCorrect.getRows(); i++) {
float val = xCorrect(i);
if (isnan(val) || isinf(val)) {
// abort correction and return
warnx("numerical failure in att correction\n");
// reset P matrix to P0
P = P0;
return ret_error;
}
}
// correct state
if (!ignoreAccel) {
phi += xCorrect(PHI);
theta += xCorrect(THETA);
}
psi += xCorrect(PSI);
// attitude also affects nav velocities
if (_positionInitialized) {
vN += xCorrect(VN);
vE += xCorrect(VE);
vD += xCorrect(VD);
}
// update state covariance
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
P = P - K * HAtt * P;
// fault detection
float beta = y.dot(S.inverse() * y);
if (beta > _faultAtt.get()) {
warnx("fault in attitude: beta = %8.4f", (double)beta);
warnx("y:\n"); y.print();
}
// update quaternions from euler
// angle correction
q = Quaternion(EulerAngles(phi, theta, psi));
return ret_ok;
}
int KalmanNav::correctPos()
{
using namespace math;
// residual
Vector y(6);
y(0) = _gps.vel_n_m_s - vN;
y(1) = _gps.vel_e_m_s - vE;
y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
y(4) = double(_gps.alt) / 1.0e3 - alt;
y(5) = double(_sensors.baro_alt_meter) - alt;
// 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;
// check correction is sane
for (size_t i = 0; i < xCorrect.getRows(); i++) {
float val = xCorrect(i);
if (!isfinite(val)) {
// abort correction and return
warnx("numerical failure in gps correction\n");
// fallback to GPS
vN = _gps.vel_n_m_s;
vE = _gps.vel_e_m_s;
vD = _gps.vel_d_m_s;
setLatDegE7(_gps.lat);
setLonDegE7(_gps.lon);
setAltE3(_gps.alt);
// reset P matrix to P0
P = P0;
return ret_error;
}
}
// correct state
vN += xCorrect(VN);
vE += xCorrect(VE);
vD += xCorrect(VD);
lat += double(xCorrect(LAT));
lon += double(xCorrect(LON));
alt += double(xCorrect(ALT));
// update state covariance
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
P = P - K * HPos * P;
// fault detetcion
float beta = y.dot(S.inverse() * y);
static int counter = 0;
if (beta > _faultPos.get() && (counter % 10 == 0)) {
warnx("fault in gps: beta = %8.4f", (double)beta);
warnx("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f",
double(y(0) / sqrtf(RPos(0, 0))),
double(y(1) / sqrtf(RPos(1, 1))),
double(y(2) / sqrtf(RPos(2, 2))),
double(y(3) / sqrtf(RPos(3, 3))),
double(y(4) / sqrtf(RPos(4, 4))),
double(y(5) / sqrtf(RPos(5, 5))));
}
counter++;
return ret_ok;
}
void KalmanNav::updateParams()
{
using namespace math;
using namespace control;
SuperBlock::updateParams();
// gyro noise
V(0, 0) = _vGyro.get(); // gyro x, rad/s
V(1, 1) = _vGyro.get(); // gyro y
V(2, 2) = _vGyro.get(); // gyro z
// accel noise
V(3, 3) = _vAccel.get(); // accel x, m/s^2
V(4, 4) = _vAccel.get(); // accel y
V(5, 5) = _vAccel.get(); // accel z
// magnetometer noise
float noiseMin = 1e-6f;
float noiseMagSq = _rMag.get() * _rMag.get();
if (noiseMagSq < noiseMin) noiseMagSq = noiseMin;
RAtt(0, 0) = noiseMagSq; // normalized direction
// accelerometer noise
float noiseAccelSq = _rAccel.get() * _rAccel.get();
// bound noise to prevent singularities
if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin;
RAtt(1, 1) = noiseAccelSq; // normalized direction
RAtt(2, 2) = noiseAccelSq;
RAtt(3, 3) = noiseAccelSq;
// gps noise
float R = R0 + float(alt);
float cosLSing = cosf(lat);
// prevent singularity
if (fabsf(cosLSing) < 0.01f) {
if (cosLSing > 0) cosLSing = 0.01;
else cosLSing = -0.01;
}
float noiseVel = _rGpsVel.get();
float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
float noiseGpsAlt = _rGpsAlt.get();
float noisePressAlt = _rPressAlt.get();
// bound noise to prevent singularities
if (noiseVel < noiseMin) noiseVel = noiseMin;
if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin;
if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin;
if (noisePressAlt < noiseMin) noisePressAlt = noiseMin;
RPos(0, 0) = noiseVel * noiseVel; // vn
RPos(1, 1) = noiseVel * noiseVel; // ve
RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h
RPos(5, 5) = noisePressAlt * noisePressAlt; // h
// XXX, note that RPos depends on lat, so updateParams should
// be called if lat changes significantly
}
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