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AP_NavEKF2: Improved output predictor tracking 

Implement a PI feedback controller for velocity and position state tracking
This commit is contained in:
priseborough 2016-07-01 13:39:38 +10:00 committed by Andrew Tridgell
parent 00b66ddc07
commit 927186339c
3 changed files with 26 additions and 37 deletions
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9
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -454,11 +454,11 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Param: TAU_OUTPUT // @Param: TAU_OUTPUT
// @DisplayName: Output complementary filter time constant (centi-sec) // @DisplayName: Output complementary filter time constant (centi-sec)
// @Description: Sets the time constant of the output complementary filter/predictor in centi-seconds. Set to a negative number to use a computationally cheaper and less accurate method with an automatically calculated time constant. // @Description: Sets the time constant of the output complementary filter/predictor in centi-seconds.
// @Range: -1 100 // @Range: 5 30
// @Increment: 10 // @Increment: 5
// @User: Advanced // @User: Advanced
AP_GROUPINFO("TAU_OUTPUT", 39, NavEKF2, _tauVelPosOutput, 10), AP_GROUPINFO("TAU_OUTPUT", 39, NavEKF2, _tauVelPosOutput, 20),
// @Param: MAGE_P_NSE // @Param: MAGE_P_NSE
// @DisplayName: Earth magnetic field process noise (gauss/s) // @DisplayName: Earth magnetic field process noise (gauss/s)
@ -476,7 +476,6 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Units: gauss/s // @Units: gauss/s
AP_GROUPINFO("MAGB_P_NSE", 41, NavEKF2, _magBodyProcessNoise, MAGB_P_NSE_DEFAULT), AP_GROUPINFO("MAGB_P_NSE", 41, NavEKF2, _magBodyProcessNoise, MAGB_P_NSE_DEFAULT),
AP_GROUPEND AP_GROUPEND
}; };

52
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -213,8 +213,8 @@ void NavEKF2_core::InitialiseVariables()
tasStoreIndex = 0; tasStoreIndex = 0;
ofStoreIndex = 0; ofStoreIndex = 0;
delAngCorrection.zero(); delAngCorrection.zero();
delVelCorrection.zero();
velCorrection.zero(); velCorrection.zero();
posCorrection.zero();
gpsGoodToAlign = false; gpsGoodToAlign = false;
gpsNotAvailable = true; gpsNotAvailable = true;
motorsArmed = false; motorsArmed = false;
@ -584,7 +584,7 @@ void NavEKF2_core::calcOutputStates()
outputDataNew.quat.rotation_matrix(Tbn_temp); outputDataNew.quat.rotation_matrix(Tbn_temp);
// transform body delta velocities to delta velocities in the nav frame // transform body delta velocities to delta velocities in the nav frame
Vector3f delVelNav = Tbn_temp*delVelNewCorrected + delVelCorrection; Vector3f delVelNav = Tbn_temp*delVelNewCorrected;
delVelNav.z += GRAVITY_MSS*imuDataNew.delVelDT; delVelNav.z += GRAVITY_MSS*imuDataNew.delVelDT;
// save velocity for use in trapezoidal integration for position calcuation // save velocity for use in trapezoidal integration for position calcuation
@ -594,7 +594,7 @@ void NavEKF2_core::calcOutputStates()
outputDataNew.velocity += delVelNav; outputDataNew.velocity += delVelNav;
// apply a trapezoidal integration to velocities to calculate position // apply a trapezoidal integration to velocities to calculate position
outputDataNew.position += (outputDataNew.velocity + lastVelocity) * (imuDataNew.delVelDT*0.5f) + velCorrection * imuDataNew.delVelDT; outputDataNew.position += (outputDataNew.velocity + lastVelocity) * (imuDataNew.delVelDT*0.5f);
// store INS states in a ring buffer that with the same length and time coordinates as the IMU data buffer // store INS states in a ring buffer that with the same length and time coordinates as the IMU data buffer
if (runUpdates) { if (runUpdates) {
@ -622,41 +622,41 @@ void NavEKF2_core::calcOutputStates()
deltaAngErr.y = scaler * quatErr[2]; deltaAngErr.y = scaler * quatErr[2];
deltaAngErr.z = scaler * quatErr[3]; deltaAngErr.z = scaler * quatErr[3];
// collect magnitude tracking error for diagnostics
outputTrackError.x = deltaAngErr.length();
// calculate a gain that provides tight tracking of the estimator states and // calculate a gain that provides tight tracking of the estimator states and
// adjust for changes in time delay to maintain consistent damping ratio of ~0.7 // adjust for changes in time delay to maintain consistent damping ratio of ~0.7
float timeDelay = 1e-3f * (float)(imuDataNew.time_ms - imuDataDelayed.time_ms); float timeDelay = 1e-3f * (float)(imuDataNew.time_ms - imuDataDelayed.time_ms);
timeDelay = fmaxf(timeDelay, dtIMUavg); timeDelay = fmaxf(timeDelay, dtIMUavg);
float errorGain = 0.45f / timeDelay; float errorGain = 0.5f / timeDelay;
// calculate a corrrection to the delta angle // calculate a corrrection to the delta angle
// that will cause the INS to track the EKF quaternions // that will cause the INS to track the EKF quaternions
delAngCorrection = deltaAngErr * errorGain * dtIMUavg; delAngCorrection = deltaAngErr * errorGain * dtIMUavg;
// calculate velocity and position tracking errors
Vector3f velDelta = (stateStruct.velocity - outputDataDelayed.velocity);
Vector3f posDelta = (stateStruct.position - outputDataDelayed.position);
// collect magnitude tracking error for diagnostics
outputTrackError.x = deltaAngErr.length();
outputTrackError.y = velDelta.length();
outputTrackError.z = posDelta.length();
// If the user specifes a time constant for the position and velocity states then calculate and apply the position // If the user specifes a time constant for the position and velocity states then calculate and apply the position
// and velocity corrections immediately to the whole output history which takes longer to process but enables smaller // and velocity corrections immediately to the whole output history which takes longer to process but enables smaller
// time constants to be used. Else apply the corrections to the current state only using the same time constant // time constants to be used. Else apply the corrections to the current state only using the same time constant
// used for the quaternion corrections. // used for the quaternion corrections.
if (frontend->_tauVelPosOutput > 0) { if (frontend->_tauVelPosOutput > 0) {
// convert time constant from centi-seconds to seconds // convert time constant from centi-seconds to seconds
float tauPosVel = 0.01f*(float)frontend->_tauVelPosOutput; float tauPosVel = constrain_float(0.01f*(float)frontend->_tauVelPosOutput, 0.1f, 0.5f);
// calculate a gain to track the EKF position states with the specified time constant // calculate a gain to track the EKF position states with the specified time constant
float velPosGain = dtEkfAvg / constrain_float(tauPosVel, dtEkfAvg, 10.0f); float velPosGain = dtEkfAvg / constrain_float(tauPosVel, dtEkfAvg, 10.0f);
// calculate tracking errors // use a PI feedback to calculate a correction that will be applied to the output state history
Vector3f velDelta = (stateStruct.velocity - outputDataDelayed.velocity); posCorrection += posDelta * velPosGain; // I term
Vector3f posDelta = (stateStruct.position - outputDataDelayed.position); velCorrection += velDelta * velPosGain; // I term
velDelta *= velPosGain; // P term
// collect magnitude of tracking errors for diagnostics posDelta *= velPosGain; // P term
outputTrackError.y = velDelta.length();
outputTrackError.z = posDelta.length();
// multiply error vectors by gain to calculate a correction that will be applied to the output state history
velDelta *= velPosGain;
posDelta *= velPosGain;
// loop through the output filter state history and apply the corrections to the velocity and position states // loop through the output filter state history and apply the corrections to the velocity and position states
// this method is too expensive to use for the attitude states due to the quaternion operations required // this method is too expensive to use for the attitude states due to the quaternion operations required
@ -667,10 +667,10 @@ void NavEKF2_core::calcOutputStates()
outputStates = storedOutput[index]; outputStates = storedOutput[index];
// a constant velocity correction is applied // a constant velocity correction is applied
outputStates.velocity += velDelta; outputStates.velocity += velDelta + velCorrection;
// a constant position correction is applied // a constant position correction is applied
outputStates.position += posDelta; outputStates.position += posDelta + posCorrection;
// push the updated data to the buffer // push the updated data to the buffer
storedOutput[index] = outputStates; storedOutput[index] = outputStates;
@ -680,17 +680,7 @@ void NavEKF2_core::calcOutputStates()
//outputDataDelayed = storedOutput[storedIMU.get_oldest_index()]; //outputDataDelayed = storedOutput[storedIMU.get_oldest_index()];
outputDataNew = storedOutput[storedIMU.get_youngest_index()]; outputDataNew = storedOutput[storedIMU.get_youngest_index()];
// set un-used corrections to zero
delVelCorrection.zero();
velCorrection.zero();
} else {
// multiply velocity and position error by a gain to calculate the delta velocity correction required to track the EKF solution
delVelCorrection = (stateStruct.velocity - outputDataDelayed.velocity) * errorGain * dtIMUavg;
velCorrection = (stateStruct.position - outputDataDelayed.position) * errorGain;
} }
} }
} }

2
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -761,8 +761,8 @@ private:
output_elements outputDataNew; // output state data at the current time step output_elements outputDataNew; // output state data at the current time step
output_elements outputDataDelayed; // output state data at the current time step output_elements outputDataDelayed; // output state data at the current time step
Vector3f delAngCorrection; // correction applied to delta angles used by output observer to track the EKF Vector3f delAngCorrection; // correction applied to delta angles used by output observer to track the EKF
Vector3f delVelCorrection; // correction applied to earth frame delta velocities used by output observer to track the EKF
Vector3f velCorrection; // correction applied to velocities used by the output observer to track the EKF Vector3f velCorrection; // correction applied to velocities used by the output observer to track the EKF
Vector3f posCorrection; // correction applied to positions used by the output observer to track the EKF
float innovYaw; // compass yaw angle innovation (rad) float innovYaw; // compass yaw angle innovation (rad)
uint32_t timeTasReceived_ms; // time last TAS data was received (msec) uint32_t timeTasReceived_ms; // time last TAS data was received (msec)
bool gpsGoodToAlign; // true when the GPS quality can be used to initialise the navigation system bool gpsGoodToAlign; // true when the GPS quality can be used to initialise the navigation system